A. Implemented network architecture, adapted from  featuring a layer of populations of excitatory (EP, ER) and inhibitory (IP, IR) receiving external stimulation and driving a layer of populations of motoneurons (HE, KE, HF). Dashed arrows indicate excitatory synaptic connections, solid circles inhibitory; B. Example rhythm elicited under pocket stimulation. Inset is motor nerve recordings from ; C. Example reduced slow phase space trajectory for pocket rhythm.