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. 2017 Aug 30;118(6):2956–2974. doi: 10.1152/jn.00322.2017

Fig. 1.

Fig. 1.

Schematic models of single- and two-level central pattern generators (CPGs). A: in a single-level CPG, multiple, loosely interconnected flexor (Flex)/extensor (Ext)-related oscillators at each joint control the activity of motoneuron (MN) pools in limbed vertebrates. B: in a two-level CPG, the rhythm generator and the pattern formation units are separated. A distributed single rhythm generator controls the activity of multiple pattern formation modules that regulate the activity of flexor/extensor MNs at each joint.