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. 2019 Nov 20;13:516. doi: 10.3389/fncel.2019.00516

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Copyright © 2019 Danner, Zhang, Shevtsova, Borowska-Fielding, Deska-Gauthier, Rybak and Zhang.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Model schematic of the bilateral spinal circuits consisting of two interconnected rhythm generators. Spheres represent neural populations and lines the synaptic connections between them. The rhythm generator (RG) in each side includes flexor and extensor centers (F and E, respectively) interacting via the inhibitory InF and InE populations. The left and right RGs interact via commissural interneurons (V0_D, V0_V, and V3).