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. 2019 Sep 19;9:13539. doi: 10.1038/s41598-019-49328-1

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© The Author(s) 2019

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Rostrocaudal organization of the lumbar enlargement of the spinal cords of rhesus monkeys, cats and humans. In all species, hip flexors were activated in more rostral regions of the lumbar enlargement than knee extensors, followed by ankle flexors, hip extensors, ankle extensors and knee flexors. Data for the monkey anatomical map were obtained from Capogrosso et al.¹⁰. Data for the human anatomical map were obtained from Sharrard^23,24. The resolution of the human spinal cord anatomical map is limited to full spinal cord segments. Data for the cat functional map were obtained from Mushahwar et al.²¹, Saigal et al.⁵, and Mushahwar & Horch²⁰. Data for the cat anatomical map were obtained from Vanderhorst & Holstege³⁵, and Yakovenko et al.³⁹. The total length of the lumbar enlargement in monkeys, cats and humans are approximately 40 mm, 30 mm^6,20,55 and 50 mm⁵⁶, respectively. Extensor synergy is defined as a combination of HE, KE, and AE and backward synergy is defined as HE, KF, and AE. HF: Hip Flexion, HE: Hip Extension, KF: Knee Flexion, KE: Knee Extension, AF: Ankle Flexion, AE: Ankle Extension, TF: Toe Flexion, TE: Toe Extension. Anatomical map of the cat lumbosacral spinal cord was adapted based on the following motoneuronal pools: HF – Psoas, Sartorius, Iliacus, Rectus Femoris, Gracilis; HE – Semimembranosus, Semitendinosus, Biceps Femoris, Gluteus maximus; Hip Adduction – Pectineus, Adductor Femoris Magnus, Gracilis, Adductor brevis, Adductor longus; Lateral Hip Rotation – Gluteus maximus, Internal obturator; KE – Rectus Femoris, Vastus Medialis, Vastus Lateralis, Vastus Intermedius;, KF – Biceps Femoris, Semitendinosus, Semimembranosus; AF – Extensor digitorum longus, Tibialis anterior; AE – Flexor halluces longus, Tibialis posterior, Plantaris, Soleus, Lateral and Medial Gastrocnemius; TE – Extensor digitorum longus muscle; TF – Intrinsic foot, Flexor hallucis longus, Flexor digitorum longus. Muscles that were used for generating the anatomical map for humans were: Psoas, Hip adductors, Quadriceps, Sartorius, Tibialis anterior, Extensor digitorum longus, Tibialis posterior, Knee flexors, Gastrocnemius, Soleus, Peroneus, Intrinsic foot, Flexor digitorum longus, Gluteus maximus, and Lateral hip rotators. Anatomical map of the monkey lumbosacral spinal cord was adapted based on the following motoneuronal pools: HF – Psoas, Rectus femoris; HE – Gluteas medius, Semitendinosus; KE – Rectus femoris; KF – Semitendinosus; AF – Tibialis anterior, Extensor digitorum longus; AE – Medial Gastrocnemius, Flexor digitorum longus; TF – Flexor Digitorum Longus.