Proprioception


Proprioception is the sense of self-movement, force, and body position.
Proprioception is mediated by proprioceptors, a type of sensory receptor, located within muscles, tendons, and joints. Most animals possess multiple subtypes of proprioceptors, which detect distinct kinesthetic parameters, such as joint position, movement, and load. Although all mobile animals possess proprioceptors, the structure of the sensory organs can vary across species.
Proprioceptive signals are transmitted to the central nervous system, where they are integrated with information from other sensory systems, such as the visual system and the vestibular system, to create an overall representation of body position, movement, and acceleration. In many animals, sensory feedback from proprioceptors is essential for stabilizing body posture and coordinating body movement.

System overview

In vertebrates, limb movement and velocity are encoded by one group of sensory neurons and another type encode static muscle length. These two types of sensory neurons compose muscle spindles. There is a similar division of encoding in invertebrates; different subgroups of neurons of the chordotonal organ encode limb position and velocity.
To determine the load on a limb, vertebrates use sensory neurons in the Golgi tendon organs: type Ib afferents. These proprioceptors are activated at given muscle forces, which indicate the resistance that muscle is experiencing. Similarly, invertebrates have a mechanism to determine limb load: the campaniform sensilla. These proprioceptors are active when a limb experiences resistance.
A third role for proprioceptors is to determine when a joint is at a specific position. In vertebrates, this is accomplished by Ruffini endings and Pacinian corpuscles. These proprioceptors are activated when the joint is at a threshold position, usually at the extremes of joint position. Invertebrates use hair plates to accomplish this; a field of bristles located within joints that detects the relative movement of limb segments through the deflection of the associated cuticular hairs.

Reflexes

The sense of proprioception is ubiquitous across mobile animals and is essential for the motor coordination of the body. Proprioceptors can form reflex circuits with motor neurons to provide rapid feedback about body and limb position. These mechanosensation circuits are important for flexibly maintaining posture and balance, especially during locomotion. For example, consider the stretch reflex, in which stretch across a muscle is detected by a sensory receptor, which activates a motor neuron to induce muscle contraction and oppose the stretch. During locomotion, sensory neurons can reverse their activity when stretched, to promote rather than oppose movement.

Conscious and nonconscious

In humans, a distinction is made between conscious proprioception and nonconscious proprioception:
Proprioception is mediated by mechanically sensitive proprioceptor neurons distributed throughout an animal's body. Most vertebrates possess three basic types of proprioceptors: muscle spindles, which are embedded in skeletal muscles, Golgi tendon organs, which lie at the interface of muscles and tendons, and joint receptors, which are low-threshold mechanoreceptors embedded in joint capsules. Many invertebrates, such as insects, also possess three basic proprioceptor types with analogous functional properties: chordotonal neurons, campaniform sensilla, and hair plates.
The initiation of proprioception is the activation of a proprioceptor in the periphery. The proprioceptive sense is believed to be composed of information from sensory neurons located in the inner ear and in the stretch receptors located in the muscles and the joint-supporting ligaments. There are specific nerve receptors for this form of perception termed "proprioceptors", just as there are specific receptors for pressure, light, temperature, sound, and other sensory experiences. Proprioceptors are sometimes known as adequate stimuli receptors.
Members of the transient receptor potential family of ion channels have been found to be important for proprioception in fruit flies, nematode worms, African clawed frogs, and zebrafish. PIEZO2, a nonselective cation channel, has been shown to underlie the mechanosensitivity of proprioceptors in mice. Humans with loss-of-function mutations in the PIEZO2 gene exhibit specific deficits in joint proprioception, as well as vibration and touch discrimination, suggesting that the PIEZO2 channel is essential for mechanosensitivity in some proprioceptors and low-threshold mechanoreceptors.
Although it was known that finger kinesthesia relies on skin sensation, recent research has found that kinesthesia-based haptic perception relies strongly on the forces experienced during touch. This research allows the creation of "virtual", illusory haptic shapes with different perceived qualities.

Central pattern generators

Central pattern generators are groups of neurons in the spinal cord that are responsible for generating stereotyped movement. It has been shown that in cats, rhythmic activation patterns are still observed following removal of sensory afferents and removal of the brain, indicating that there is neural pattern generation in the spinal cord independent of descending signals from the brain and sensory information. It is currently understood that the spinal cord receives sensory input from proprioceptive organs and descending commands from the brain, integrates these signals, and sends activation signals to muscle through alpha motoneurons and fusimotor signals through gamma motoneurons in a coordinated and rhythmic fashion.

Muscle spindles

The muscle spindle is a proprioceptive organ that lies embedded in the muscle. It consists of bag- and chain-type fibers, which correspond to dynamic and static responses, respectively. Spindles relay information through primary and secondary sensory afferents, with the primary afferent attached at the nucleus of the spindle and the secondary afferent attached at the end of the spindle. Spindles are conventionally thought of as encoding muscle length, velocity, and acceleration, however there is evidence to suggest that they respond to the force and yank exerted on intrafusal muscle. Spindles are also composed of bag- and chain-type fibers, with dynamic and static stretch responses, respectively.
Key features of muscle spindle firing responses include initial bursts, history-dependence, and rate relaxation. Initial bursts occur at the onset of stretch and only last a very short time. History dependence refers to how the response of muscle spindles is affected by past stretch inputs. Rate relaxation refers to how the firing rate of muscle spindles decreases over time when held at a constant length.

Golgi tendon organs

The Golgi tendon organ is a proprioceptive organ that lies at the muscle-tendon junction. GTOs relay information through group Ib afferents, and encode active muscle force. As they are connected at one end to motor units, individual GTOs only relay information on a few fibers. At the same time, GTOs exhibit self-adaptation, in which GTO response decreases after prior activation, and cross-adaptation, in which GTO activity is modulated by prior activation of another GTO. Similar to muscle spindles, GTO firing is characterized by a heightened response at the onset of activity and gradual relaxation to a resting firing rate.

Fusimotor system

While muscle spindles relay information via primary afferents, they receive descending efferent signals from the spinal cord via gamma motoneurons. This gamma innervation modulates the sensitivity of muscle spindle afferents to stretch. In cat studies, muscle spindle afferent firing rates with gamma fusimotor innervation were shown to be approximately equal to the sum of the gamma motoneuron firing rate and muscle spindle firing rate with no gamma innervation. In these same studies, gamma activity was shown to be correlated with joint angle during locomotion, indicating that fusimotor activity is periodically modulated during locomotion. Similar to muscle spindles, gamma motoneurons are also categorized according to static and dynamic response properties.

Motor control

In motor control, proprioceptors provide critical feedback to the central nervous system. Muscle spindles relay information regarding muscle stretch, Golgi tendon organs relay information regarding tendon force, and gamma motoneurons modulate muscle spindle feedback. Afferent signals from spindles and tendon organs are integrated in the spinal cord, which then output muscle activation commands to muscle via alpha motoneurons. Because muscle spindles and tendon organs exhibit burst-like activity in response to rapid stretch, they play a vital role in reflexive perturbation responses. In a simulation study, it has been shown that the controllability of a limb in response to a perturbation is significantly increased when utilizing muscle spindle and tendon organ feedback in conjunction. However, proprioceptive feedback is also critical in controlling steady movements. In one study, de-afferented mice were unable to walk as quickly as the control group, and showed some reduced activity in extensor muscles. It's also been shown in cats that disruption of feedback from muscle spindles impairs inter-joint coordination during ramp descent tasks. In a study on people with amputations, those with a higher degree of proprioceptive feedback from muscle spindles were able to better control the movement of a virtual limb.