The Neural Control Mechanisms of Gekkonid Adhesion Locomotion: The Effect of Spinal Cord Lesions.

Objective: the role of the supraspinal system in the neural control mechanisms of adhesion locomotor pattern formation was studied in lizard Gekko gecko . Methods: the locomotor performance and adaptation of the chronically lesioned Gekko gecko was documented before and after either partial or complete spinal lesions. They were filmed moving on a flat and smooth platform that was inclined at 0°, ±45°, and ±90°, as well as the horizontal mats and the vertical oak background board in the terraria, to evaluate locomotor functional recovery. The geckos were also tested on the platform by two half and nose-up or -down rotations in steps of 15° throughout 180° to investigate the recovery of the ability to respond dynamically to external perturbations. Results: after relatively small lesions of a hemisection, the locomotor performance was largely indistinguishable from that before and after a sham operation. During the initial period of recovery after the largest lesions of a dorsal or a ventral hemisection within 1 wk, the geckos behaved essentially as the complete spinal geckos, while permanent deficits in locomotor performance remained and did not decrease afterwards for ≥6 mth. Conclusions: by analyzing the correlation among locomotor performances, and between locomotor performances and spinal cord lesions, we suggest that the dorsal spinal pathways and ventral spinal pathways participate, respectively, in the control of the limb coupling, and in the deployment and the detachment of the adhesive apparatus. The present study will provide certain neurobiological guidance for the design of bio-robots, as well as sprawling robots inspired by the geckos.