Motor units convert the last neural code of movement into muscle forces. The classic view of motor unit control is that the CNS sends common synaptic inputs to motoneuron pools and that motoneurons respond in an orderly fashion dictated by the size principle. This view, however, is in contrast with the large number of dimensions observed in motor cortex, which may allow individual and flexible control of motor units. Evidence for flexible control of motor units may be obtained by tracking motor units longitudinally during tasks with some level of behavioral variability. Here we identified and tracked populations of motor units in the brachioradialis muscle of two macaque monkeys during 10 sessions spanning >1 month with a broad range of rate of force development (1.8–38.6 N · m · s−1). We found a very stable recruitment order and discharge characteristics of the motor units over sessions and contraction trials. The small deviations from orderly recruitment were fully predicted by the motor unit recruitment intervals, so that small shifts in recruitment thresholds happened only during contractions at a high rate of force development. Moreover, we also found that one component explained more than ∼50% of the motor unit discharge rate variance, and that the remaining components represented a time-shifted version of the first. In conclusion, our results show that the recruitment of motoneurons is determined by the interplay of the size principle and common input and that this recruitment scheme is not violated over time or by the speed of the contractions.

SIGNIFICANCE STATEMENT With a new noninvasive high-density electromyographic framework, we show the activity of motor unit ensembles in macaques during voluntary contractions. The discharge characteristics of brachioradialis motor units revealed a relatively fixed recruitment order and discharge characteristics across days and rate of force developments. These results were further confirmed through invasive axonal stimulation and recordings of intramuscular electromyographic activity from 16 arm muscles. The study shows for the first time the feasibility of longitudinal noninvasive motor unit interfacing and tracking of the same motor units in nonhuman primates.