This paper presents a novel circuit designed to directly connect neuromorphic dynamics with a motor system. The designed system is intended as an elementary building block for the construction of complex chains of adaptive neural oscillators that are directly controlled and in turn control the corresponding actuators. For the first time, the concept of a motor neuron as a unique neurocomputational and control unit is presented. This structure can be generalized to a broad class of actuators in which neuronal dynamics generate motion and the motor part, in turn, controls the neural dynamics. A new analog circuit that realizes a symbiotic relation between neural and motor activity is presented and the simulation results are reported and discussed.