This study aimed to present a model of post-scratching locomotion with two intermixed central pattern generator (CPG) networks, one for scratching and another for locomotion. We hypothesized that the rhythm generator layers for each CPG are different, with the condition that both CPGs share their supraspinal circuits and their motor outputs at the level of their pattern formation networks. We show that the model reproduces the post-scratching locomotion latency of 6.2 ± 3.5 s, and the mean cycle durations for scratching and post-scratching locomotion of 0.3 ± 0.09 s and 1.7 ± 0.6 s, respectively, which were observed in a previous experimental study. Our findings show how the transition of two rhythmic movements could be mediated by information exchanged between their CPG circuits through routes converging in a common pattern formation layer. This integrated organization may provide flexible and effective connectivity despite the rigidity of the anatomical connections in the spinal cord circuitry.
Keywords: CPG; central pattern generator; locomotion; mathematical model; movement production; movement sequence; post-scratching locomotion; scratching.