Skilled movement often requires flexibly combining multiple subskills, each requiring dedicated control strategies and underlying computations. How the motor system achieves such versatility remains unclear. Using high-density Neuropixels recordings from primary motor cortex (M1) in macaques performing a challenging force-tracking task, we reveal that M1 activity is much higher-dimensional, and far more flexible, than traditionally assumed. Although our task employed only a single external degree of freedom, neural dynamics reflected transitions amongst many dimensions and multiple distinct computations. Different behavioral control strategies were associated with distinct neural locations and dimensions, sometimes used compositionally. Groups of population-level factors became active when a particular form of dynamics was needed, and remained silent otherwise. Neural activity was thus dominated by the engaged subskill, and could be very different even for matched motor output. These findings challenge prevailing views of M1, and reveal an unexpectedly flexible and high-dimensional neural system underlying skilled motor behavior.

Voluntary movement requires communication from cortex to the spinal cord, where a dedicated pool of motor units (MUs) activates each muscle. The canonical description of MU function rests upon two foundational tenets. First, cortex cannot control MUs independently but supplies each pool with a common drive. Second, MUs are recruited in a rigid fashion that largely accords with Henneman's size principle. Although this paradigm has considerable empirical support, a direct test requires simultaneous observations of many MUs across diverse force profiles. In this study, we developed an isometric task that allowed stable MU recordings, in a rhesus macaque, even during rapidly changing forces. Patterns of MU activity were surprisingly behavior-dependent and could be accurately described only by assuming multiple drives. Consistent with flexible descending control, microstimulation of neighboring cortical sites recruited different MUs. Furthermore, the cortical population response displayed sufficient degrees of freedom to potentially exert fine-grained control. Thus, MU activity is flexibly controlled to meet task demands, and cortex may contribute to this ability. Muscle fibers have diverse properties-for example, slow and fast twitch. Groups of fibers are activated by motoneurons. Marshall et al. found that motoneurons are used flexibly, presumably allowing us to intelligently employ fibers suited to each task.

Primate motor cortex projects to spinal interneurons and motoneurons, suggesting that motor cortex activity may be dominated by muscle-like commands. Observations during reaching lend support to this view, but evidence remains ambiguous and much debated. To provide a different perspective, we employed a novel behavioral paradigm that facilitates comparison between time-evolving neural and muscle activity. We found that single motor cortex neurons displayed many muscle-like properties, but the structure of population activity was not muscle-like. Unlike muscle activity, neural activity was structured to avoid "tangling": moments where similar activity patterns led to dissimilar future patterns. Avoidance of tangling was present across tasks and species. Network models revealed a potential reason for this consistent feature: low tangling confers noise robustness. Finally, we were able to predict motor cortex activity from muscle activity by leveraging the hypothesis that muscle-like commands are embedded in additional structure that yields low tangling.

Neural systems include interactions that occur across many scales. Two divergent methods for characterizing such interactions have drawn on the physical analysis of critical phenomena and the mathematical study of information. Inferring criticality in neural systems has traditionally rested on fitting power laws to the property distributions of “neural avalanches” (contiguous bursts of activity), but the fractal nature of avalanche shapes has recently emerged as another signature of criticality. On the other hand, neural complexity, an information theoretic measure, has been used to capture the interplay between the functional localization of brain regions and their integration for higher cognitive functions. Unfortunately, treatments of all three methods—power-law fitting, avalanche shape collapse, and neural complexity—have suffered from shortcomings. Empirical data often contain biases that introduce deviations from true power law in the tail and head of the distribution, but deviations in the tail have often been unconsidered; avalanche shape collapse has required manual parameter tuning; and the estimation of neural complexity has relied on small data sets or statistical assumptions for the sake of computational efficiency. In this paper we present technical advancements in the analysis of criticality and complexity in neural systems. We use maximum-likelihood estimation to automatically fit power laws with left and right cutoffs, present the first automated shape collapse algorithm, and describe new techniques to account for large numbers of neural variables and small data sets in the calculation of neural complexity. In order to facilitate future research in criticality and complexity, we have made the software utilized in this analysis freely available online in the MATLAB NCC (Neural Complexity and Criticality) Toolbox.

The analysis of neural systems leverages tools from many different fields. Drawing on techniques from the study of critical phenomena in statistical mechanics, several studies have reported signatures of criticality in neural systems, including power-law distributions, shape collapses, and optimized quantities under tuning. Independently, neural complexity-an information theoretic measure-has been introduced in an effort to quantify the strength of correlations across multiple scales in a neural system. This measure represents an important tool in complex systems research because it allows for the quantification of the complexity of a neural system. In this analysis, we studied the relationships between neural complexity and criticality in neural culture data. We analyzed neural avalanches in 435 recordings from dissociated hippocampal cultures produced from rats, as well as neural avalanches from a cortical branching model. We utilized recently developed maximum likelihood estimation power-law fitting methods that account for doubly truncated power-laws, an automated shape collapse algorithm, and neural complexity and branching ratio calculation methods that account for sub-sampling, all of which are implemented in the freely available Neural Complexity and Criticality MATLAB toolbox. We found evidence that neural systems operate at or near a critical point and that neural complexity is optimized in these neural systems at or near the critical point. Surprisingly, we found evidence that complexity in neural systems is dependent upon avalanche profiles and neuron firing rate, but not precise spiking relationships between neurons. In order to facilitate future research, we made all of the culture data utilized in this analysis freely available online.