Figure 1.

The supraspinal locomotor network. This schematic drawing displays the supraspinal network for locomotor control. Cortical signals convey motor commands to the mesencephalic locomotor regions (MLR) via the basal ganglia, through the striato-pallidal and the striato-subthalamic-pallidal pathways, and via the hyper-direct pathway that directly links the SMA with the STN. Locomotor plans reach the MLR, which represents a cross-point of information coming from the basal ganglia and the cerebellum, and further descend to the pontomedullary reticular formation (PMRF) and to the spinal central pattern generators (CPGs). The investigated nodes are highlighted in yellow. The pathways of feedforward motor commands are displayed as red (activating) and blue (inhibiting) arrows, while those of sensory feedback are displayed as grey arrows. CRB = cerebellum; GPe = globus pallidus pars externa; GPi = globus pallidus pars interna; M1 = primary motor cortex; PC = parietal cortex; SN = substantia nigra; STR = striatum; TH = thalamus.