Experimental setup. Illustration of a cross-section through the spinal cord highlighting the pelvic nerves and dorsal root ganglia at the sacral level. Arrays were implanted in S1 and S2 DRG. Saline was infused into bladder either via a supra-pubic line or an intraurethal line. Intravesical pressure was monitored with a pressure transducer and amplifier. Both neural data and pressure were recorded with a Grapevine data acquisition system. Image modified from Bruns et al.