Proprioception ( ) is the sense of self-movement, force, and body position.
Proprioception is mediated by proprioceptors, sensory receptors located within muscles, tendons, joints and the vestibular organs. Most animals possess multiple subtypes of proprioceptors, which detect distinct kinesthetic variables, such as position, movement, and force. Although all mobile animals possess proprioceptors, the structure of the sensory organs can vary across species.
Limb 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 loading. In many animals, sensory feedback from proprioceptors is essential for stabilizing body posture and coordinating body movement.
System overview In vertebrates, limb position and velocity are encoded by muscle spindle group Ia afferents responding to muscle length and velocity and muscle spindle group II afferents responding mainly to muscle length. There is a similar division of encoding in invertebrates; different subgroups of neurons of the chordotonal organ encode limb position and velocity.
Load on a limb is signaled by Golgi tendon organs: type Ib afferents. These proprioceptors respond to the force a muscle is exerting. 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. Proprioceptive afferents form reflex loops with spinal alpha motor neurons to provide rapid feedback control of muscles. These mechanosensation circuits are important for flexibly maintaining posture and balance, especially during locomotion. For example, consider the stretch reflex, in which stretch of a muscle is detected by proprioceptors (e.g., muscle spindles in vertebrates, chordotonal neurons in invertebrates), which reflexly activate motoneurons to induce muscle contraction to oppose the stretch. During locomotion, inputs from Golgi tendon organs can reverse their reflex action on motoneurons to promote rather than oppose stretch-related orces.
Conscious and nonconscious In humans, a distinction is made between conscious proprioception and nonconscious proprioception: Conscious proprioception is communicated by the dorsal column-medial lemniscus pathway to the cerebrum. Nonconscious proprioception is communicated primarily via the dorsal spinocerebellar tract and ventral spinocerebellar tract, to the cerebellum. A nonconscious reaction is seen in the human proprioceptive reflex, or righting reflex—in the event that the body tilts in any direction, the person will cock their head back to level the eyes against the horizon. This is seen even in infants as soon as they gain control of their neck muscles. This control comes from the cerebellum, the part of the brain affecting balance.
Physiology 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 (motion and orientation) and in the stretch receptors located in the muscles and the joint-supporting ligaments (stance). 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.
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.the MIT Technology Review article "The Cutting Edge of Haptics"
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 is a 1-3mm long encapsulated, fusiform (spindle-shaped) structure comprising contractile intrafusal (inside the spindle) muscle fibers and a central non-contractile region. There are three types of intrafusal fiber: bag I, bag-II and chain, which correspond to the dynamic and static responses of the afferents they influence. Spindles relay information through primary (Group Ia) and secondary (Group II) sensory afferents. Primary afferents innervate nuclear bag and chain intrafusal muscle fibers in the central region and secondary afferents innervate nuclear chain fibers at the ends of the spindle. Spindles encode extrafusal muscle length, velocity and acceleration. Recent studies suggest that they respond to the force and yank (the first time-derivative of force) exerted on intrafusal muscle.
Nonlinear features of muscle spindle responses to muscle stretch 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 (GTO) 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 (dynamic response) and gradual relaxation to a resting firing rate (static response).
Fusimotor system Muscle spindles relay information to the CNS via afferents, and they receive efferent signals from the spinal cord via gamma fusimotor neurons. This gamma innervation modulates the sensitivity of muscle spindle afferents to stretch. Gamma motoneurons are categorized according to the static and dynamic response properties of the muscle spindle afferents they affect. In recordings with semi-microelectrodes inserted into peripheral nerves in humans, muscle spindle afferent firing rates increased during muscle contraction. This suggested that gamma motoneuronal activity was linked to alpha motoneuronal activity (alpha-gamma co-activation). Only small movements were studied because electrodes otherwise dislodged. In studies of locomotion in decerebrate cats, gamma activity was shown to be correlated with cyclical variations in joint angle. In cats performing normal walking, beam-walking, landing from falls and resisting imposed movement, the mean firing rates of muscle spindle primary afferents and their sensitivity to variations in muscle length changed according to task. Sensitivity greatly increased in difficult tasks and in states of vigilance, presumably due to increases in dynamic gamma activity. The terms fusimotor "wind-up" and fusimotor "set" were coined to describe these behaviors.
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 is 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.
Anatomy Proprioception of the head stems from the muscles innervated by the trigeminal nerve, where the general somatic afferent fibers pass without synapsing in the trigeminal ganglion (first-order sensory neuron), reaching the mesencephalic tract and the mesencephalic nucleus of trigeminal nerve. Proprioception of limbs often occurs due to receptors in connective tissue near joints.
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