Kinematic strategies and sensorimotor transformations in the wiping movements of frogs

Spinal frogs are known to make coordinated and successful wiping movements to almost all places on the body and legs. Such wiping movements involve a sensorimotor transformation. Information from both the spatial locations of stimuli on the skin and the body configuration of the frog is transformed into a set of motor commands that generate body movements adequate to successfully remove the irritant. The spinal cord itself therefore has a limited capacity for sensorimotor transformations. We examined the kinematics of wiping motions in both spinal and intact leopard frogs and bullfrogs. This data was used to assess the flexibility, precision, and strategy of the kinematic sensorimotor transformations used during wiping. The movements involved the use of redundant degrees of freedom in the limbs. Thus many possible movements or solutions could generate successful wiping. This redundancy allows motor-equivalent movements to be used by the frog.