Experimental observation of multistability and dynamic attractors in silicon central pattern generators

We report on the multistability of chaotic networks of silicon neurons and demonstrate how spatiotemporal sequences of voltage oscillations are selected with timed current stimuli. A three neuron central pattern generator was built by interconnecting Hodgkin-Huxley neurons with mutually inhibitory links mimicking gap junctions. By systematically varying the timing of current stimuli applied to individual neurons, we generate the phase lag maps of neuronal oscillators and study their dependence on the network connectivity. We identify up to six attractors consisting of triphasic sequences of unevenly spaced pulses propagating clockwise and anticlockwise. While confirming theoretical predictions, our experiments reveal more complex oscillatory patterns shaped by the ratio of the pulse width to the oscillation period. Our work contributes to validating the command neuron hypothesis.