Organization of motor neurons to a multiply innervated insect muscle

A size principle for recruitment of Drosophila leg motor neurons

To move the body, the brain must precisely coordinate patterns of activity among diverse populations of motor neurons. Here, we use in vivo calcium imaging, electrophysiology, and behavior to understand how genetically-identified motor neurons control flexion of the fruit fly tibia. We find that leg motor neurons exhibit a coordinated gradient of anatomical, physiological, and functional properties. Large, fast motor neurons control high force, ballistic movements while small, slow motor neurons control low force, postural movements. Intermediate neurons fall between these two extremes. This hierarchical organization resembles the size principle, first proposed as a mechanism for establishing recruitment order among vertebrate motor neurons. Recordings in behaving flies confirmed that motor neurons are typically recruited in order from slow to fast. However, we also find that fast, intermediate, and slow motor neurons receive distinct proprioceptive feedback signals, suggesting that the size principle is not the only mechanism that dictates motor neuron recruitment. Overall, this work reveals the functional organization of the fly leg motor system and establishes Drosophila as a tractable system for investigating neural mechanisms of limb motor control.

Passive resting state and history of antagonist muscle activity shape active extensions in an insect limb

Limb movements can be driven by muscle contractions, external forces, or intrinsic passive forces. For lightweight limbs like those of insects or small vertebrates, passive forces can be large enough to overcome the effects of gravity and may even generate limb movements in the absence of active muscle contractions. Understanding the sources and actions of such forces is therefore important in understanding motor control. We describe passive properties of the femur-tibia joint of the locust hind leg. The resting angle is determined primarily by passive properties of the relatively large extensor tibiae muscle and is influenced by the history of activation of the fast extensor tibiae motor neuron. The resting angle is therefore better described as a history-dependent resting state. We selectively stimulated different flexor tibiae motor neurons to generate a range of isometric contractions of the flexor tibiae muscle and then stimulated the fast extensor tibiae motor neuron to elicit active tibial extensions. Residual forces in the flexor muscle have only a small effect on subsequent active extensions, but the effect is larger for distal than for proximal flexor motor neurons and varies with the strength of flexor activation. We conclude that passive properties of a lightweight limb make substantial and complex contributions to the resting state of the limb that must be taken into account in the patterning of neuronal control signals driving its active movements. Low variability in the effects of the passive forces may permit the nervous system to accurately predict their contributions to behavior.

Recruitment in a heterogeneous population of motor neurons that innervates the depressor muscle of the crayfish walking leg muscle

According to the size principle the fine control of muscle tension depends on the orderly recruitment of motor neurons from a heterogeneous pool. We took advantage of the small number of excitatory motor neurons (about 12) that innervate the depressor muscle of the crayfish walking leg to determine if the size principle applies to this muscle. We found that in accordance with the size principle, when stimulated by proprioceptive input, neurons with small extracellular spikes were recruited before neurons with medium or large spikes. Because only a small fraction of the motor neurons responded strongly enough to sensory input to be recruited in this way, we extended our analysis to all neurons by characterizing properties that have classically been associated with recruitment order such as speed of axonal conduction and extracellular spike amplitude. Through a combination of physiological and anatomical criteria we were able to identify seven classes of excitatory depressor motor neurons. The majority of these classes responded to proprioceptive input with a resistance reflex, while a few responded with an assistance reflex, and yet others did not respond. Our results are in general agreement with the size principle. However, we found qualitative differences between neuronal classes in terms of synaptic input and neuronal structure that would in theory be unnecessary, according to a strict interpretation of the size principle. We speculate that the qualitative heterogeneity observed may be due to the fact that the depressor is a complex muscle, consisting of two muscle bundles that share a single insertion but have multiple origins.

The control of mandible movements in the ant Odontomachus

Ants use their mandibles to manipulate many different objects including food, brood and nestmates. Different tasks require the modification of mandibular force and speed. Besides normal mandible movements the trap-jaw ant Odontomachus features a particularly fast mandible reflex during which both mandibles close synchronously within 3 ms. The mandibular muscles that govern mandible performance are controlled by four opener and eight closer motor neurons. During slow mandible movements different motor units can be activated successively, and fine tuning is assisted by co-activation of the antagonistic muscles. Fast and powerful movements are generated by the additional activation of two particular motor units which also contribute to the mandible strike. The trap-jaw reflex is triggered by a fast trigger muscle which is derived from the mandible closer. Intracellular recording reveals that trigger motor neurons can generate regular as well as particularly large postsynaptic potentials, which might be passively propagated over the short distance to the trigger muscle. The trigger motor neurons are dye-coupled and receive input from both sides of the body without delay, which ensures the synchronous release of both mandibles.

Proprioceptive feedback in locust kicking and jumping during maturation

Campaniform sensilla monitor the forces generated by the leg muscles during the co-contraction phase of locust (Schistocerca gregaria) kicking and jumping and re-excite the fast extensor (FETi) and flexor tibiae motor neurones, which innervate the leg muscles. Sensory signals from a campaniform sensillum on the proximal tibia were compared in newly moulted locusts, which do not kick and jump, and mature locusts which readily kick and jump. The activity pattern of FETi during co-contraction was mimicked by stimulating the extensor tibiae muscle. Less force was generated and the spike frequency of the sensory neurone from the sensillum was significantly lower in newly moulted compared to mature locusts. Depolarisation of both FETi and flexor motor neurones as a result of sensory feedback was consequently less in newly moulted than in mature locusts. The difference in the depolarisation was greater than the decrease in the afferent spike frequency suggesting that the central connections of the afferents are modulated. The depolarisation could generate spikes in FETi and maintain flexor spikes in mature but not in newly moulted locusts. This indicates that feedback from the anterior campaniform sensillum comprises a significant component of the drive to both FETi and flexor activity during co-contraction in mature animals and that the changes in this feedback contribute to the developmental change in behaviour.

Anatomy of the antennal motoneurons in the brain of the honeybee (Apis mellifera)

This paper describes the morphology and location of the cerebral motoneurons that control the movement of the antennae in the honeybee. The position of each antenna is controlled by two muscle systems; the basal segment (scape) is moved by four muscles within the head capsule, and two muscles within the scape control the distal segments (flagellum) of the antenna. The motor system of the scape is controlled by nine motoneurons, and that of the flagellum by six motoneurons. All of these motoneurons share the dorsal lobe as a common projection area where their dendritic fields overlap extensively. These motoneurons do not have contralateral projections. The cell bodies of the antennal motoneurons are located in the soma layer lateral to the dorsal lobe. The somata for each muscle system are arranged in three clusters; two clusters are located in a region of the cortex dorsal to the dorsal lobe and one cluster is located in the cortex ventral to the dorsal lobe. In the cortex dorsal to the dorsal lobe, one cluster of each muscle system shares the same region. Altogether five groups of cell bodies can be distinguished. Double labeling of the motoneurons and presumptive mechanosensory primary antennal afferents with fluorescent dyes has shown that there is an extensive overlap of axonal projections of antennal mechanosensory afferents with dendritic fields of antennal motoneurons.

Motor neurons of grasshopper metathoracic ganglion occur in stereotypic anatomical groups

Anatomical groups containing identified motor neurons of the main muscles of the legs and the wings are described in a segmental ganglion of the adult grasshopper. The groups occur reproducibly in ganglia of different individuals and are a simplifying and organizing feature of ganglionic morphology. The motor neurons within each group have cell bodies near each other in the cortex of the ganglion and primary neurites that enter the ganglionic core as a discrete bundle. The primary neurite bundles are distinctive in shape and position and have the same composition in every individual, despite variations in the positions of the cell bodies of the contributing motor neurons. The primary neurite bundle of a group is separate from those of other groups and separate from bundles of motor axons that exit or sensory axons that enter the ganglion. Each group of cell bodies in the cortex appears from light microscope examination to be held separately within a glial surround. Areas of glial cell cytoplasm may extend considerably beyond the boundaries of the neuronal cell bodies, to give shape and structural integrity to the cortex. Similarities between the morphology of the adult groups reported here and the descriptions by others of embryonic and larval nervous systems suggest to us that the motor neurons of each group are the progeny of a single neuroblast.

Distribution of motor neurons into anatomical groups in the grasshopper metathoracic ganglion

Motor neurons of the main muscles of the hind legs and the hind wings of the grasshopper are distributed into eight anatomical groups within each half of a bilaterally symmetrical segmental ganglion. A group contains 5 to 24 identified motor neurons, accounting for 164 (82 pairs) of the some 200 motor neurons within the population. The motor neurons within a given group may contribute axons to more than one of the lateral nerves, and conversely each lateral nerve contains axons arising from motor neurons in separate groups. Groups may include synergistic and antagonistic motor neurons as well as those that have unrelated functions. The motor neurons of a given muscle may occur together in a single group, or separately in two or more groups. The description of groups provides a way of classifying neurons to simplify and organize the large amount of data on the structure and function of individually identified neurons within the ganglion. The organization of the motor neurons into groups may reflect their developmental origin from individual neuroblasts, and the detailed information about the pattern of groups in the adult thus allows specific predictions to be made about the composition of neurons within neuronal lineages.

Physiological and Ultrastructural Characterization of a Central Synaptic Connection between Identified Motor Neurons in the Locust

An excitatory connection between an extensor and several flexor tibiae motor neurons that innervate antagonistic muscles in the hind leg of a locust has been characterized using physiological and ultrastructural methods. Simultaneous intracellular recordings from the single fast extensor (FETi) motor neuron and up to three flexor motor neurons show that a spike in FETi is followed by a short latency depolarizing synaptic potential in the flexors that is powerful enough to evoke a burst of flexor spikes. The chemically mediated excitatory postsynaptic potential (EPSP) is caused centrally as it persists when sensory feedback from the leg is removed, and has a latency of 1.6-2.0 ms depending upon the position of the recording electrodes in the somata or neuropilar segments of the pre- and postsynaptic neurons. The amplitude of the EPSP declines gradually in a saline containing no calcium but high magnesium, indicating that no spiking interneuron is interposed in the pathway. With repetitive stimulation, the EPSP decrements markedly so that at intervals of 50 ms the second EPSP of a pair is reduced by 90%. The amplitude of the EPSP is also dependent on the amplitude of the presynaptic spike. The physiological evidence suggesting a monosynaptic connection is directly confirmed by electron microscopy of ganglia in which FETi and a flexor were both labelled with horseradish peroxidase. Direct chemical synapses between the two identified neurons, in which FETi is the presynaptic element, occur in three regions of the neuropil examined. At a synapse, the flexor motor neuron may be the only postsynaptic neuron or it may be one element in a dyad. The synaptic arrangements between the two neurons are complex with serial synapses through unlabelled processes linking FETi to flexor motor neurons and with frequent reciprocal synaptic connections between FETi and unlabelled processes. Unidentified processes also make input synapses on both neurons close to the synapses from FETi. The behavioural significance of the connection lies in the mechanical requirements for kicking and jumping. To prepare for these powerful movements the extensor and flexor tibiae muscles must co-contract. The connection from FETi enhances the depolarization and frequency of spikes in the flexors during the co-contraction.

Intracellular staining of neurons with nickel-lysine

A new method of intracellularly staining neurons is described. Nickel-lysine (NL) can be used for both intracellular injection by pressure or iontophoresis and retrograde labelling (axonal backfilling). Once introduced into neurons, NL is reacted with dithiooximide dissolved in dimethyl sulfoxide (DMSO) to produce a blue-black precipitate. Small diameter processes are easily detected. For pressure injections, mixing NL with carboxyfluorescein provides a simple way to gauge how much dye has been injected, in that the latter is readily visible when illuminated with blue light. NL appears to move within neurons by axonal transport. Staining over long distances can be obtained in 12-24 h. NL does not appear to cross electrotonic synapses and remains confined to the neurons into which it has been injected. NL staining is simple, flexible and inexpensive. It has the additional advantage that it is compatible with other staining techniques.

Neuronal structure and synaptic distribution of a uropod closer motor neuron in the crayfish terminal ganglion

One of the uropod closer muscles in the crayfish, the adductor exopodite, is innervated by two large identified motor neurons. They were injected intracellularly with horseradish peroxidase or nickel chloride to reveal the structure and distribution of the input and output synapses using electron microscopy. The development of nickel with rubeanic acid greatly improved the tissue preservation at the ultrastructural level compared with ammonium sulphide. Cell bodies of the motor neurons lying in the ventro-lateral cortex of the ganglion are extensively invaginated by glial cells. Input synapses occur directly upon the primary neurite within the neuropil or upon the major anterior neurite. They are most abundant, however, upon the numerous smaller neurites of the motor neuron. The primary neurite in the dorsal region of the neuropil, upon which no synapses were made, is wrapped with glial cells. Occasionally, these two adductor exopodite motor neurons were found as adjacent postsynaptic profiles at the same synapse when both cells were stained simultaneously in the same preparation. In the present study we could not locate any sites of synaptic output which strictly fulfil the structural criteria of a synapse on the processes of the motor neuron. This result is inconsistent with physiological evidence which suggests that spikeless interactions occur between the two adductor exopodite motor neurons and their synergists. This might be the result of two possible features of the interaction: the sites of synaptic output may be limited to a few restricted branches, and the interaction between these motor neurons may depend largely upon electrical synapses.

Muscle development in the grasshopper embryo. III. Sequential origin of the flexor tibiae muscle pioneers

The flexor (FlTi) and extensor (ETi) tibiae are antagonist muscles located in the femur of the metathoracic leg of the grasshopper. Both are complex, consisting of an array of bundles of muscle fibers connecting the ectoderm of the wall of the femur with their respective apodemes. In the previous paper (E. E. Ball and C. S. Goodman, 1985, Dev. Biol. 111, 399-416) we described the embryonic development of the ETi muscle, focusing in particular on its syncytial origin from a giant supramuscle pioneer which later divides into an array of individual muscle pioneers. Here we describe the embryonic development of the FlTi muscle. In contrast to the development of the ETi muscle, the array of individual muscle pioneers for the FlTi does not have a syncytial origin but rather arises by sequential recruitment from the mass of smaller, undifferentiated mesoderm cells. The FlTi MPs first appear as two cells symmetrically placed on the corners of the FlTi apodeme at around 37%. A third MP is then added between these two; this third MP later dies. Subsequent growth occurs by symmetrical addition of MPs distally along the sides of the developing apodeme and by enlargement of the individual MPs. Initially each MP contains only a single nucleus; by about 50% there are at least two to three nuclei per MP and each is surrounded by a cluster of smaller, undifferentiated mesoderm cells. Each MP develops into a bundle of muscle fibers by a cycle of fusion and division. The individual mesoderm cells surrounding each MP fuse with it starting at about 60%. At the same time, the large MP begins to divide into smaller muscle fibers.

Glutamatergic central nervous transmission in locusts

It is generally believed that neural transmission in the central nervous systems of insects is cholinergic, on the basis of secondary evidence: the presence of cholinesterase, and sensitivity of a nonsynaptic region of the neuron, its cell body, to iontophoresed acetylcholine. In the present work a preparation has been developed which takes advantage of the availability of identified motor neurons in the locust metathoracic ganglion with known 3-dimensional geometry of dendritic fields. These neurons transmit at their peripheral neuromuscular junctions with glutamate. The fast extensor tibiae motor neuron also makes excitatory central connections onto its functional antagonists the flexor tibiae motor neurons. Unless Dale's principle is contravened, transmission at these central synapses should also be glutamatergic. This transmission onto flexor motor neurons was found to be attenuated 70% by a glutamatergic blocker. Glutamate iontophoresed into selected areas of neuropil into which the motor neurons have dendritic branches caused the neurons to be depolarized, in a dose-dependent manner. Individual motor neurons were directly excited to spike with suprathreshold iontophoretic current. With long durations of release they were desensitized, but recovered quickly with rest. The data provide evidence that central transmission onto motor neurons in the locust metathoracic ganglion is glutamatergic.

Generation of specific behaviors in a locust by local release into neuropil of the natural neuromodulator octopamine

The natural insect neuromodulator octopamine (OCT) was released iontophoretically into regions of neuropil in locust metathoracic ganglia. A narrowly-defined site was found on one side of the ganglion at which release caused a prolonged bout of repetitive flex-extend-flex movements of the tibia on the injected side, at a frequency of from 2-3.5 Hz. When a bout had terminated, repetition of the OCT release caused an extremely similar bout to occur, and again with further treatments, indefinitely. OCT iontophoresis at the equivalent site on the contralateral side caused the contralateral flexor to make stepping movements. Two sites were found, in each half of the ganglion, at which similar OCT release evoked a bout of flight motor activity at 10 Hz. The flight bout involved both sides synchronously and nearly equally, except for a slightly greater motor output on the injected side. Evoked bouts lasted from 20 sec to 25 min depending on the preparation and amount of OCT released. At a site in the 6th abdominal ganglion of mature female locusts OCT release suppressed ongoing rhythmic oviposition digging evoked by severing the ventral nerve cord. A number of previously undescribed DUM neurons was encountered and their dendritic patterns, which are distinctive, determined following dye injection. A hypothesis, termed the Orchestration Hypothesis is presented, which considers how modulator neurons such as locust octopaminergic neurons, might be involved in the generation of specific behaviors.

The effects of salines and fixatives upon the size of an identified neuron

Because accurate neuronal dimensions are essential for mathematical modeling of neuronal properties, the effects of a number of salines and fixative procedures on neuronal size were compared, including the non-chemical, freeze substitution method. Using an identified neuron we compared diameters and found some of the fixative-saline combinations caused shrinkage by as much as a factor of four from our best estimates of the in vivo size from the quick frozen preparations. A glutaraldehyde based fixation procedure was found which gives results in good agreement with the frozen tissue.

Fast and slow motoneurons with unique forms and activity patterns in lobster claws

The form of the fast closer excitor (FCE) and the slow closer excitor (SCE) motoneurons to the closer muscle in the claw of the lobster Homarus americanus was determined by injecting cobalt chloride or Lucifer Yellow into their respective somata. Both neurons are monopolar with the single neurite rising vertically to the dorsal surface of the ganglion, then travelling along this surface to where it gives off its dendrites before entering the second nerve root as an axon. The FCE and SCE motoneurons, however, differ in their dendritic form in several respects. First, the FCE completely lacks an anterior dendritic field, which is well elaborated in the SCE. Second, the FCE has fewer large primary dendrites in its posterior field than the SCE. Third, the posterior dendritic field of the FCE is not as extensive as that of the SCE. Fourth, the axon of the FCE originates from one of the posterior primary dendrites while that of the SCE is an axial extension of its neurite. Thus the SCE has a more elaborate dendritic field than the FCE, which may account for its greater excitability. For instance, recordings from intact lobsters show that the SCE has a lower firing threshold and is active for longer periods of time and at higher frequencies than the FCE.

Defense posture and leg-position learning in a primitive insect utilize catchlike tension

The capability for conditioning of leg position, using loud sound as an aversive natural reinforcement, was examined in a primitive New Zealand insect, the weta (Orthoptera: Stenopelmatidae). Electromyographic recordings were made during the conditioning. A majority of wetas tested came to occupy stably a metathoracic tibial position window, coupled to turning off the sound, set in either flexion or extension away from the preferred rest position. Steady tensions of up to 7 g in extension and 5 g in flexion were produced. However, no electromyographic activity accompanied the tension. It is concluded that the insects are using a peripheral catchlike mechanism to adjust posture.

Elicitation and abrupt termination of behaviorally significant catchlike tension in a primitive insect

Sustained steady contractural or catchlike tension (CT) occurs in the metathoracic extensor tibiae muscle of the primitive insect the weta (Orthoptera: Stenopelmatidae) during its characteristic leg-extension defense behavior or following leg-position conditioning. Similar action occurs occasionally in semi-intact preparations and is abruptly turned off by a single peripheral inhibitory impulse. These phenomena were reproduced routinely by first infusing saline containing 10(-8) M (or stronger) octopamine into the muscle for 12 min, and then stimulating the slow excitatory motor neuron SETi with a brief burst. Direct stimulation of the dorsal unpaired median neuron, innervating the extensor tibiae (DUMETi) prior to SETi stimulation, also led to CT. Both octopamine and DUMETi markedly enhanced the tension developed in response to a burst of impulses in SETi.

Neural correlates of flight loss in a Mexican grasshopper, Barytettix psolus. I. Motor and sensory cells

The nervous systems of locusts (Schistocerca gregaria) and flightless grasshoppers (Barytet tix psolus) are compared to evaluate modifications to neurons which are associated with flight loss. Locusts are well known for their powerful flight capability. Barytettix never fly. They lack hindwings, have immobile vestiges of forewings, and are devoid of skeletal specializations for wing movement. Their pterothoracic musculature is similar to that of locusts, except for the absence of those muscles that, in locusts, have the primary function of moving the wings. Individually identified leg motorneurons, the extensors of the tibia, were compared between locusts and Barytettix and were found to have very similar morphologies. Nerve roots which correspond to those supplying wing muscles of locusts were stained by cobalt backfilling in Barytettix to test for presence of counterparts to wing muscle motorneurons. Cobalt backfills of metathoracic nerve 1 reveal the presence in Barytet tix of neurons corresponding to locust dorsal longitudinal motorneurons--neurons which persist in adult Barytettix in the complete absence of peripheral targets. These cells occupy characteristic positions within the CNS but their soma sizes are greatly reduced by comparison to their locust counterparts. Locust metathoracic ganglia bear large flight motorneurons on their ventral anterolateral margin. Viewed in toluidine blue-stained wholemounts, Barytettix ganglia show considerably smaller neuron somata in the corresponding region. In locusts, comparisons of the fast extensor tibiae (FETi) motorneuron soma profile areas with those of the largest anterior cell showed no significant difference between the two, while in Barytettix, the largest anterior cell is 51% smaller than the FETi. A counterpart to the locust wing hinge stretch receptor (SR) was revealed by backfilling metathoracic nerve 1 in Barytettix. Despite its lack of function as a wing movement detector, the central projection of Barytettix SR differs from its locust counterpart only in reduced spread of specific central branches.

Structural comparison of a homologous neuron in gryllid and acridid insects

The fast extensor tibiae (FETi) motor neuron is responsible for exciting the extensor tibiae muscle to produce most of the force for jumping in acridids. Because of its relatively large size and crucial role in jumping, FETi has been studied in an ever-increasing number of orthopteran species. Here we describe the structure of the metathoracic FETi neuron in six species of acridids and in two species of gryllids. The morphology of FETi within the respective groups is essentially equivalent, but marked differences are apparent between acridid and gryllid FETis. There are similarities in the size and location of the cell body and the course of the neurite through the ganglion. Differences are found in the number of large branches, density of branching, and the volume of neuropil receiving branches. We propose that the gryllid FETi is an intermediate form between slow extensor tibiae motor neurons involved in walking and acridid fast extensor tibiae motor neurons specialized for jumping.

Locust local nonspiking interneurons which tonically drive antagonistic motor neurons: physiology, morphology, and ultrastructure

Local nonspiking interneurons have been implicated in the control of behavior. We have characterized the physiology of two local nonspiking interneurons in the locust and subsequently examined the neurons in the light and electron microscopes. Physiologically the two interneurons have opposite effects upon antagonistic motor neurons and are tonically releasing transmitter at their "resting potentials." This combination of tonic release and reciprocal driving of antagonistic motor neurons by single interneurons provides a hitherto undescribed means of controlling posture. One interneuron (DCVII, 4) excites flexor tibiae and inhibits the slow extensor tibiae motor neurons when depolarized. The other interneuron (DCVII, 5) inhibits the flexor tibiae and excites the slow extensor tibiae motor neurons when depolarized. In both cases, when the interneurons are hyperpolarized, they have the opposite effects upon the same motor neurons. Intracellular staining of these neurons confirms that they are local interneurons. Furthermore, an examination of sectioned material shows that the neurons are unique and can be identified as such in a population of locust neurons. Ultrastructurally, we find synapses only on the smaller (less than 2 micrometers) branches. These neurons may form the presynaptic element in either of two configurations, these being the discrete density (one presynaptic) and the dense bar (one presynaptic, two postsynaptic) type of configurations. The functional implications of these findings for neurons controlling posture are discussed.