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Motor units, each of which consists of a single motor neuron and the muscle fibers it innervates, contribute to the total activation of each muscle through their recruitment and firing rate when active. However, it remains unknown how the nervous system controls locomotor speed by changing the firing of individual motor units. To address this, we combined quantitative behavioral analysis of mouse locomotion with single motor unit recordings from the lateral and long heads of the triceps brachii, which drive monoarticular extension of the elbow and biarticular movements of the elbow and shoulder, respectively. In contrast to prior studies employing bulk electromyography (EMG) to examine muscle activity, our recordings revealed the diversity of spike patterning across motor units, as well as systematic differences in motor unit activity across muscles and locomotor speeds. First, motor unit activity differed significantly across the lateral and long heads, suggesting differential control of these two closely apposed elbow extensor muscles. Second, we found that individual units were recruited probabilistically (during only a subset of strides), showing that the highly repeatable bulk EMG signals observed across strides, in fact, reflect varying subsets of individual motor units. Finally, although recruitment probability and firing rate both increased at faster walking speeds, increases in recruitment were proportionally larger than rate changes, and recruitment of individual units accompanied changes in limb kinematics. Together, these results reveal how the firing of individual motor units varies systematically across muscles and walking speeds to produce flexible locomotor behavior.<\/jats:p>","DOI":"10.7554\/elife.105829","type":"journal-article","created":{"date-parts":[[2025,3,12]],"date-time":"2025-03-12T12:25:21Z","timestamp":1741782321000},"update-policy":"https:\/\/doi.org\/10.7554\/elife.105829","source":"Crossref","is-referenced-by-count":0,"title":["Motor unit mechanisms of speed control in mouse locomotion"],"prefix":"10.7554","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2985-4718","authenticated-orcid":true,"given":"Kyle","family":"Thomas","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/01zkghx44","id-type":"ROR","asserted-by":"publisher"}],"name":"Graduate Program in Biomedical Engineering, Emory University and Georgia Institute of Technology","place":["Atlanta, United States"]}],"role":[{"role":"author","vocabulary":"crossref"},{"role":"conceptualization","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"given":"Rhuna","family":"Gibbs","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03czfpz43","id-type":"ROR","asserted-by":"publisher"}],"name":"Department of Biology, Emory University","place":["Atlanta, United States"]}],"role":[{"role":"author","vocabulary":"crossref"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8709-4841","authenticated-orcid":true,"given":"Hugo","family":"Marques","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03g001n57","id-type":"ROR","asserted-by":"publisher"}],"name":"Champalimaud Neuroscience Programme, Champalimaud Centre for the Unknown","place":["Lisbon, Portugal"]}],"role":[{"role":"author","vocabulary":"crossref"},{"role":"conceptualization","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4499-1657","authenticated-orcid":true,"given":"Megan R","family":"Carey","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03g001n57","id-type":"ROR","asserted-by":"publisher"}],"name":"Champalimaud Neuroscience Programme, Champalimaud Centre for the Unknown","place":["Lisbon, Portugal"]}],"role":[{"role":"author","vocabulary":"crossref"},{"role":"conceptualization","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1140-7469","authenticated-orcid":true,"given":"Samuel J","family":"Sober","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03czfpz43","id-type":"ROR","asserted-by":"publisher"}],"name":"Department of Biology, Emory University","place":["Atlanta, United States"]}],"role":[{"role":"author","vocabulary":"crossref"},{"role":"corresponding-author","vocabulary":"crossref"},{"role":"conceptualization","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]}],"member":"4374","published-online":{"date-parts":[[2026,10,22]]},"reference":[{"key":"bib1","doi-asserted-by":"publisher","first-page":"642","DOI":"10.1152\/jn.00174.2006","type":"journal-article","article-title":"Behavioral and electromyographic characterization of mice lacking EphA4 receptors","volume":"96","author":"Akay","year":"2006","journal-title":"Journal of Neurophysiology"},{"key":"bib2","doi-asserted-by":"publisher","first-page":"16877","DOI":"10.1073\/pnas.1419045111","type":"journal-article","article-title":"Degradation of mouse locomotor pattern in the absence of proprioceptive sensory feedback","volume":"111","author":"Akay","year":"2014","journal-title":"PNAS"},{"key":"bib3","first-page":"89","type":"journal-article","article-title":"Skeletal muscule fiber types in C57BL6J mice","volume":"1","author":"Augusto","year":"2004","journal-title":"Braz. j. 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