From stress and strain to spikes: mechanotransduction in spider slit sensilla

Flexible locomotion in complex environments: the influence of species, speed and sensory feedback on panarthropod inter-leg coordination

Panarthropods (a clade containing arthropods, tardigrades and onychophorans) can adeptly move across a wide range of challenging terrains and their ability to do so given their relatively simple nervous systems makes them compelling study organisms. Studies of forward walking on flat terrain excitingly point to key features in inter-leg coordination patterns that seem to be 'universally' shared across panarthropods. However, when movement through more complex, naturalistic terrain is considered, variability in coordination patterns - from the intra-individual to inter-species level - becomes more apparent. This variability is likely to be due to the interplay between sensory feedback and local pattern-generating activity, and depends crucially on species, walking speed and behavioral goal. Here, I gather data from the literature of panarthropod walking coordination on both flat ground and across more complex terrain. This Review aims to emphasize the value of: (1) designing experiments with an eye towards studying organisms in natural environments; (2) thoughtfully integrating results from various experimental techniques, such as neurophysiological and biomechanical studies; and (3) ensuring that data is collected and made available from a wider range of species for future comparative analyses.

Comparative biology of spatial navigation in three arachnid orders (Amblypygi, Araneae, and Scorpiones)

From both comparative biology and translational research perspectives, there is escalating interest in understanding how animals navigate their environments. Considerable work is being directed towards understanding the sensory transduction and neural processing of environmental stimuli that guide animals to, for example, food and shelter. While much has been learned about the spatial orientation behavior, sensory cues, and neurophysiology of champion navigators such as bees and ants, many other, often overlooked animal species possess extraordinary sensory and spatial capabilities that can broaden our understanding of the behavioral and neural mechanisms of animal navigation. For example, arachnids are predators that often return to retreats after hunting excursions. Many of these arachnid central-place foragers are large and highly conducive to scientific investigation. In this review we highlight research on three orders within the Class Arachnida: Amblypygi (whip spiders), Araneae (spiders), and Scorpiones (scorpions). For each, we describe (I) their natural history and spatial navigation, (II) how they sense the world, (III) what information they use to navigate, and (IV) how they process information for navigation. We discuss similarities and differences among the groups and highlight potential avenues for future research.

Vibration detection in arthropods: Signal transfer, biomechanics and sensory adaptations

In arthropods, the detection of vibrational signals and stimuli is essential in several behaviours, including mate recognition and pair formation, prey detection, and predator evasion. These behaviours have been studied in several species of insects, arachnids, and crustaceans for vibration production and propagation in the environment. Vibration stimuli are transferred over the animals' appendages and the body to vibrosensory organs. Ultimately, the stimuli are transferred to act on the dendrites of the mechanosensitive sensilla. We refer to these two different levels of transfer as macromechanics and micromechanics, respectively. These biomechanical processes have important roles in filtering and pre-processing of stimuli, which are not carried out by neuronal components of sensory organs. Also, the macromechanical transfer is posture-dependent and enables behavioural control of vibration detection. Diverse sensory organs respond to vibrations, including cuticular sensilla (slit sensilla, campaniform sensilla) and internal chordotonal organs. These organs provide various adaptations, as they occur at diverse body positions with different mechanical couplings as input pathways. Macromechanics likely facilitated evolution of vibrosensory organs at specific body locations. Thus, vibration detection is a highly complex sensory capacity, which employs body and sensory mechanics for signal filtering, amplification, and analysis of frequency, intensity and directionality.

Mechanosensory Hairs and Hair-like Structures in the Animal Kingdom: Specializations and Shared Functions Serve to Inspire Technology Applications

Biological mechanosensation has been a source of inspiration for advancements in artificial sensory systems. Animals rely on sensory feedback to guide and adapt their behaviors and are equipped with a wide variety of sensors that carry stimulus information from the environment. Hair and hair-like sensors have evolved to support survival behaviors in different ecological niches. Here, we review the diversity of biological hair and hair-like sensors across the animal kingdom and their roles in behaviors, such as locomotion, exploration, navigation, and feeding, which point to shared functional properties of hair and hair-like structures among invertebrates and vertebrates. By reviewing research on the role of biological hair and hair-like sensors in diverse species, we aim to highlight biological sensors that could inspire the engineering community and contribute to the advancement of mechanosensing in artificial systems, such as robotics.

A leg to stand on: computational models of proprioception

Dexterous motor control requires feedback from proprioceptors, internal mechanosensory neurons that sense the body's position and movement. An outstanding question in neuroscience is how diverse proprioceptive feedback signals contribute to flexible motor control. Genetic tools now enable targeted recording and perturbation of proprioceptive neurons in behaving animals; however, these experiments can be challenging to interpret, due to the tight coupling of proprioception and motor control. Here, we argue that understanding the role of proprioceptive feedback in controlling behavior will be aided by the development of multiscale models of sensorimotor loops. We review current phenomenological and structural models for proprioceptor encoding and discuss how they may be integrated with existing models of posture, movement, and body state estimation.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Role of mechanosensitive ion channels in the sensation of pain

Our ability to sense mechanical cues from our environment depend on the capacity of molecular sensor capable of converting mechanical energy into biochemical or electrical signals. This process, termed mechanotransduction, relies on the activity of mechanosensitive ion channels (MSCs) that are expressed in most tissues, including cells of the inner and outer ear, sensory and sympathetic neurons, and vascular cells. However, the precise role these channels play in the physiology of the cells and organs, where they are expressed is not completely understood. In this review, we will explore some of the recent findings on the role of MSCs to our sense of mechanical pain.

Distribution and development of the external sense organ pattern on the appendages of postembryonic and adult stages of the spider Parasteatoda tepidariorum

Spiders are equipped with a large number of innervated cuticular specializations, which respond to various sensory stimuli. The physiological function of mechanosensory organs has been analysed in great detail in some model spider species (e.g. Cupiennius salei); however, much less is known about the distribution and function of chemosensory organs. Furthermore, our knowledge on how the sense organ pattern develops on the spider appendages is limited. Here we analyse the development of the pattern and distribution of six different external mechano- and chemosensory organs in all postembryonic stages and in adult male and female spiders of the species Parasteatoda tepidariorum. We show that except for small mechanosensory setae, external sense organs appear in fixed positions on the pedipalps and first walking legs, arranged in longitudinal rows along the proximal-distal axis or in invariable positions relative to morphological landmarks (joints, distal tarsal tip). A comparison to other Entelegynae spiders shows that these features are conserved. We hope that this study lays the foundation for future molecular analysis to address the question how this conserved pattern is generated.

Multiple Biogenic Amine Receptor Types Modulate Spider, Cupiennius salei, Mechanosensory Neurons

The biogenic amines octopamine (OA), tyramine (TA), dopamine (DA), serotonin (5-HT), and histamine (HA) affect diverse physiological and behavioral processes in invertebrates, but recent findings indicate that an additional adrenergic system exists in at least some invertebrates. Transcriptome analysis has made it possible to identify biogenic amine receptor genes in a wide variety of species whose genomes have not yet been sequenced. This approach provides new sequences for research into the evolutionary history of biogenic amine receptors and allows them to be studied in experimentally accessible animal models. The Central American Wandering spider, Cupiennius salei, is an experimental model for neurophysiological, developmental and behavioral research. We identified ten different biogenic amine receptors in C. salei transcriptomes. Phylogenetic analysis indicated that, in addition to the typical receptors for OA, TA, DA, and 5-HT in protostome invertebrates, spiders also have α1- and α2-adrenergic receptors, but lack TAR2 receptors and one invertebrate specific DA receptor type. In situ hybridization revealed four types of biogenic amine receptors expressed in C. salei mechanosensory neurons. We used intracellular electrophysiological experiments and pharmacological tools to determine how each receptor type contributes to modulation of these neurons. We show that arachnids have similar groups of biogenic amine receptors to other protostome invertebrates, but they lack two clades. We also clarify that arachnids and many other invertebrates have both α1- and α2-adrenergic, likely OA receptors. Our results indicate that in addition to an OAβ-receptor that regulates rapid and large changes in sensitivity via a G_s-protein activating a cAMP mediated pathway, the C. salei mechanosensory neurons have a constitutively active TAR1 and/or α2-adrenergic receptor type that adjusts the baseline sensitivity to a level appropriate for the behavioral state of the animal by a G_q-protein that mobilizes Ca²⁺.

The distribution of cholinergic neurons and their co-localization with FMRFamide, in central and peripheral neurons of the spider Cupiennius salei

The spider Cupiennius salei is a well-established model for investigating information processing in arthropod sensory systems. Immunohistochemistry has shown that several neurotransmitters exist in the C. salei nervous system, including GABA, glutamate, histamine, octopamine and FMRFamide, while electrophysiology has found functional roles for some of these transmitters. There is also evidence that acetylcholine (ACh) is present in some C. salei neurons but information about the distribution of cholinergic neurons in spider nervous systems is limited. Here, we identify C. salei genes that encode enzymes essential for cholinergic transmission: choline ACh transferase (ChAT) and vesicular ACh transporter (VAChT). We used in-situ hybridization with an mRNA probe for C. salei ChAT gene to locate somata of cholinergic neurons in the central nervous system and immunohistochemistry with antisera against ChAT and VAChT to locate these proteins in cholinergic neurons. All three markers labeled similar, mostly small neurons, plus a few mid-sized neurons, in most ganglia. In the subesophageal ganglia, labeled neurons are putative efferent, motor or interneurons but the largest motor and interneurons were unlabeled. Groups of anti-ChAT labeled small neurons also connect the optic neuropils in the spider protocerebrum. Differences in individual cell labeling intensities were common, suggesting a range of ACh expression levels. Double-labeling found a subpopulation of anti-VAChT-labeled central and mechanosensory neurons that were also immunoreactive to antiserum against FMRFamide-like peptides. Our findings suggest that ACh is an important neurotransmitter in the C. salei central and peripheral nervous systems.

Expression of Cys-loop receptor subunits and acetylcholine binding protein in the mechanosensory neurons, glial cells, and muscle tissue of the spider Cupiennius salei

The central and peripheral nervous system transcriptomes of the spider Cupiennius salei have 15 Cys-loop receptor subunits and an acetylcholine-binding protein (AChBP). Twelve subunits are predicted to form anion channels gated by γ-aminobutyric acid (GABA), glutamate, histamine, or changes in pH, and three are putative ACh-gated cation channels. Spiders have a variety of mechanosensilla and proprioceptive organs that are innervated by efferents in their peripherally located parts, and efferents also innervate muscle fibers. We investigated Cys-loop gene expression in muscle tissue by qPCR and localized this expression in mechanosensilla via in situ hybridization. The cuticular mechanosensory neurons had only CsGABArdl and CspHCl2 subunits, whereas the muscle tissue expressed a wider variety of subunits, especially CsGABAgrd, CsGABA_A β, CsGluCl1 and CspHCl, but very low levels of the CsGABArdl or CsnACh subunits. An nACh non-α subunit was expressed in a group of unidentified cells in the hypodermis and at low level in the muscle tissue, but the physiological function of this subunit is unknown. The CsnAChα subunit was not expressed in sensory neurons and was expressed at extremely low level in the muscle tissue. None of the probes gave signals in proprioceptive joint receptors, suggesting that efferent innervation to this sense organ employs other receptor types. CsAChBP and a glia-specific homeodomain CsREPO were both expressed in glial cells that surround sensory neurons and also in muscle tissue, probably around the nerve endings of the neuromuscular junction. These locations have large numbers of synapses, suggesting that AChBP may have a function in modulating synaptic transmission. J. Comp. Neurol. 525:1139-1154, 2017. © 2016 Wiley Periodicals, Inc.

Transcriptome Analysis of the Central and Peripheral Nervous Systems of the Spider Cupiennius salei Reveals Multiple Putative Cys-Loop Ligand Gated Ion Channel Subunits and an Acetylcholine Binding Protein

Invertebrates possess a diverse collection of pentameric Cys-loop ligand gated ion channel (LGIC) receptors whose molecular structures, evolution and relationships to mammalian counterparts have been intensely investigated in several clinically and agriculturally important species. These receptors are targets for a variety of control agents that may also harm beneficial species. However, little is known about Cys-loop receptors in spiders, which are important natural predators of insects. We assembled de novo transcriptomes from the central and peripheral nervous systems of the Central American wandering spider Cupiennius salei, a model species for neurophysiological, behavioral and developmental studies. We found 15 Cys-loop receptor subunits that are expected to form anion or cation permeable channels, plus a putative acetylcholine binding protein (AChBP) that has only previously been reported in molluscs and one annelid. We used phylogenetic and sequence analysis to compare the spider subunits to homologous receptors in other species and predicted the 3D structures of each protein using the I-Tasser server. The quality of homology models improved with increasing sequence identity to the available high-resolution templates. We found that C. salei has orthologous γ-aminobutyric acid (GABA), GluCl, pHCl, HisCl and nAChα LGIC subunits to other arthropods, but some subgroups are specific to arachnids, or only to spiders. C. salei sequences were phylogenetically closest to gene fragments from the social spider, Stegodyphus mimosarum, indicating high conservation within the Araneomorphae suborder of spiders. C. salei sequences had similar ligand binding and transmembrane regions to other invertebrate and vertebrate LGICs. They also had motifs associated with high sensitivity to insecticides and antiparasitic agents such as fipronil, dieldrin and ivermectin. Development of truly selective control agents for pest species will require information about the molecular structure and pharmacology of Cys-loop receptors in beneficial species.

Brightness discrimination in the day- and night-adapted wandering spider Cupiennius salei

Cupiennius salei is a nocturnal spider with eight eyes, which undergo a remarkable circadian cycle: the rhabdomeric membrane of the photoreceptor cells is dismantled during the day and rebuilt at the beginning of the night. Such drastic changes might influence the brightness discrimination ability. We tested this hypothesis by presenting square-shaped flickering stimuli with certain luminances on stationary backgrounds with other luminances to spiders with day- or night-adapted eyes. When the spider, through its three pairs of so-called secondary eyes, perceives a visible contrast between the stimulus and the background, its principal eye muscle activity should increase. We therefore recorded this activity in vivo to assess the brightness discrimination ability of Cupiennius salei. Our results show that this spider has good brightness discrimination ability, which is significantly better with dark-adapted eyes. A Michelson contrast of 0.1 to 0.2 at night, and of 0.2 to 0.3 for day-adapted eyes, is sufficient to elicit a significant response, except below a critical value of luminance (~16 cd m(-2)), where the minimal perceivable contrast needs to be higher. In the Discussion we compare these performances with those of other animals, in particular with jumping spiders.

Upstream open reading frames and Kozak regions of assembled transcriptome sequences from the spider Cupiennius salei. Selection or chance?

We assembled a new set of mRNA sequences from the leg hypodermis transcriptome of the wandering spider, Cupiennius salei. Each sequence was assembled to exhaustion in the 5' direction to detect all upstream open reading frames (uORFs) both in-frame and out-of-frame with the main open reading frame (mORF). We also counted nucleotide probabilities before and after the START codon of the mORF to establish the optimum Kozak consensus sequence. More than 80% of 5' sequences had uORFs before the mORF with a range of 1-16 uORFs. Kozak consensus strengths of uORFs were significantly weaker than mORFs. Random scrambling of 5' nucleotide positions did not give significantly different numbers, sizes, or Kozak consensus strengths of uORFs. Random simulations of 5' sequences using either equal or experimental distributions of nucleotides gave similar numbers of uORFs, with similar sizes and Kozak consensus strengths to experimental data. Abundance of mRNA for each gene was estimated by counting matching Illumina reads to assembled genes. Abundance was negatively correlated with numbers of uORFs, but not with 5' length. Our data are compatible with a random model of 5' mRNA sequence structure.

Directional specificity and encoding of muscle forces and loads by stick insect tibial campaniform sensilla, including receptors with round cuticular caps

In many systems, loads are detected as the resistance to muscle contractions. We studied responses to loads and muscle forces in stick insect tibial campaniform sensilla, including a subgroup of receptors (Group 6B) with unusual round cuticular caps in oval-shaped collars. Loads were applied in different directions and muscle contractions were emulated by applying forces to the tibial flexor muscle tendon (apodeme). All sensilla 1) were maximally sensitive to loads applied in the plane of joint movement and 2) encoded muscle forces but did not discharge to unresisted movements. Identification of 6B sensilla by stimulation of cuticular caps demonstrated that receptor responses were correlated with their morphology. Sensilla with small cuticular collars produced small extracellular potentials, had low thresholds and strong tonic sensitivities that saturated at moderate levels. These receptors could effectively signal sustained loads. The largest spikes, derived from sensilla with large cuticular collars, had strong dynamic sensitivities and signaled a wide range of muscle forces and loads. Tibial sensilla are apparently tuned to produce no responses to inertial forces, as occur in the swing phase of walking. This conclusion is supported by tests in which animals 'stepped' on a compliant surface and sensory discharges only occurred in stance.

Wind induces variations in spider web geometry and sticky spiral droplet volume

Trap building by animals is rare because it comes at substantial costs. Using materials with properties that vary across environments maintains trap functionality. The sticky spiral silks of spider orb webs are used to catch flying prey. Web geometry, accompanied by compensatory changes in silk properties, may change across environments to sustain web functionality. We exposed the spider Cyclosa mulmeinensis to wind to test if wind-induced changes in web geometry are accompanied by changes in aggregate silk droplet morphology, axial thread width or spiral stickiness. We compared: (i) web catching area, (ii) length of total silks, (iii) mesh height, (iv) number of radii, (v) aggregate droplet morphology and (vi) spiral thread stickiness, between webs made by spiders exposed to wind with those not exposed to wind. We interpreted co-variation in droplet morphology or spiral stickiness with web capture area, mesh height or spiral length as the silk properties functionally compensating for changes in web geometry to reduce wind drag. Wind-exposed C. mulmeinensis built webs with smaller capture areas, shorter capture spiral lengths, and more widely spaced capture spirals, resulting in the expenditure of less silk. Individuals that were exposed to wind also deposited larger droplets of sticky silk but the stickiness of the spiral threads remained unchanged. The larger droplets may be a product of greater investment in water, or low molecular weight compounds facilitating atmospheric water uptake. Either way droplet dehydration in wind is likely to be minimized.

Transcriptome walking: a laboratory-oriented GUI-based approach to mRNA identification from deep-sequenced data

Background

Deep sequencing technology provides efficient and economical production of large numbers of randomly positioned, relatively short, estimates of base identities in DNA molecules. Application of this technology to mRNA samples allows rapid examination of the molecular genetic environment in individual cells or tissues, the transcriptome. However, assembly of such short sequences into complete mRNA creates a challenge that limits the usefulness of the technology, particularly when no, or limited, genomic data is available. Several approaches to this problem have been developed, but there is still no general method to rapidly obtain an mRNA sequence from deep sequence data when a specific molecule, or family of molecules, are of interest. A frequent requirement is to identify specific mRNA molecules from tissues that are being investigated by methods such as electrophysiology, immunocytology and pharmacology. To be widely useful, any approach must be relatively simple to use in the laboratory by operators without extensive statistical or bioinformatics knowledge, and with readily available hardware.

Findings

An approach was developed that allows de novo assembly of individual mRNA sequences in two linked stages: sequence discovery and sequence completion. Both stages rely on computer assisted, Graphical User Interface (GUI)-guided, user interaction with the data, but proceed relatively efficiently once discovery is complete. The method grows a discovered sequence by repeated passes through the complete raw data in a series of steps, and is hence termed ‘transcriptome walking’. All of the operations required for transcriptome analysis are combined in one program that presents a relatively simple user interface and runs on a standard desktop, or laptop computer, but takes advantage of multi-core processors, when available. Complete mRNA sequence identifications usually require less than 24 hours. This approach has already identified previously unknown mRNA sequences in two animal species that currently lack any significant genome or transcriptome data.

Conclusions

As deep sequencing data becomes more widely available, accessible methods for extracting useful sequence information in the biological or medical laboratory will be of increasing importance. The approach described here does not rely on detailed knowledge of bioinformatic algorithms, and allows users with basic knowledge of molecular biology and standard laboratory computing equipment, but limited software or bioinformatics experience, to extract complete gene sequences from deep-sequencing data.

Calcium buffering and clearance in spider mechanosensory neurons

Spider VS-3 mechanoreceptor neurons have a low-voltage-activated Ca2+ current that raises intracellular calcium concentration [Ca2+] when they are depolarized by agonists of GABAA receptors or fire action potentials. The Ca2+ rise produces negative feedback by modulating the mechanoreceptor current and regulates Ca2+- and voltage-activated K+ currents. However, nothing is known about Ca2+ buffering in VS-3 neurons. Dynamic changes in VS-3 neuron intracellular [Ca2+] were measured using the fluorescent Ca2+ indicator Oregon Green BAPTA-1 (OG488) to understand Ca2+ buffering and clearance. Intracellular OG488 concentration increased slowly over more than 2 h as it diffused through a sharp intracellular microelectrode and spread through the cell. This slow increase was used to measure endogenous Ca2+ buffering and clearance by the added buffer technique, with OG488 acting as both added exogenous buffer and Ca2+ indicator. [Ca2+] was raised for brief periods by regular action potential firing, produced by pulsed electric current injection through the microelectrode. The resulting rise and fall of [Ca2+] were well fitted by the single compartment model of Ca2+ dynamics. With earlier ratiometric [Ca2+] estimates, these data gave an endogenous Ca2+ binding ratio of 684. Strong Ca2+ buffering may assist these neurons to deal with rapid changes in mechanical inputs.

In search of differences between the two types of sensory cells innervating spider slit sensilla (Cupiennius salei Keys.)

The metatarsal lyriform organ of the spider Cupiennius salei is a vibration detector consisting of 21 cuticular slits supplied by two sensory cells each, one ending in the outer and the other at the inner slit membrane. In search of functional differences between the two cell types due to differences in stimulus transmission, we analyzed (1) the adaptation of responses to electrical stimulation, (2) the thresholds for mechanical stimulation and (3) the representation of male courtship vibrations using intracellular recording and staining techniques. Single- and multi-spiking receptor neurons were found among both cell types, which showed high-pass filter characteristics. Below 100-Hz threshold, tarsal deflections were between 1 degrees and 10 degrees. At higher frequencies, they decreased down to values as small as 0.05 degrees, corresponding to 4.5-nm tarsal deflection in the most sensitive cases. Different slits in the organ and receptor cells with slow or fast adaptation did not differ in this regard. When stimulated with male courtship vibrations, both types of receptor cells again did not differ significantly regarding number of action potentials, latency and synchronization coefficients. Surprisingly, the differences in dendrite coupling were not reflected by the physiological responses of the two cell types innervating the slits.

Finite element modeling of arachnid slit sensilla: II. Actual lyriform organs and the face deformations of the individual slits

Arachnid slit sensilla respond to minute strains in the exoskeleton. After having applied finite element (FE) analysis to simplified arrays of five straight slits (Hössl et al. J Comp Physiol A 193:445-459, 2007) we now present a computational study of the effects of more subtle natural variations in geometry, number and arrangement of slits on the slit face deformations. Our simulations show that even minor variations in these parameters can substantially influence a slit's directional response. Using white-light interferometric measurements of the surface deformations of a lyriform organ, it is shown that planar FE models are capable of predicting the principal characteristics of the mechanical responses. The magnitudes of the measured and calculated slit face deformations are in good agreement. At threshold, they measure between 1.7 and 43 nm. In a lyriform organ and a closely positioned loose group of slits, the detectable range of loads increases to approximately 3.5 times the range of the lyriform organ alone. Stress concentration factors (up to ca. 29) found in the vicinity of the slits were evaluated from the models. They are mitigated due to local thickening of the exocuticle and the arrangement of the chitinous microfibers that prevents the formation of cracks under physiological loading conditions.

Random Stimulation of Spider Mechanosensory Neurons Reveals Long-Lasting Excitation by GABA and Muscimol

γ-Aminobutyric acid type A (GABAA) receptor activation inhibits many primary afferent neurons by depolarization and increased membrane conductance. Deterministic (step and sinusoidal) functions are commonly used as stimuli to test such inhibition. We found that when the VS-3 mechanosensory neurons innervating the spider lyriform slit-sense organ were stimulated by randomly varying white-noise mechanical or electrical signals, their responses to GABAA receptor agonists were more complex than the inhibition observed during deterministic stimulation. Instead, there was rapid excitation, then brief inhibition, followed by long-lasting excitation. During the final excitatory phase, VS-3 neuron sensitivity to high-frequency signals increased selectively and their linear information capacity also increased. Using experimental and simulation approaches we found that the excitatory effect could also be achieved by depolarizing the neurons without GABA application and that excitation could override the inhibitory effect produced by increased membrane conductance (shunting). When the VS-3 neurons were exposed to bumetanide, an antagonist of the Cl− transporter NKCC1, the GABA-induced depolarization decreased without any change in firing rate, suggesting that the effects of GABA can be maintained for a long time without additional Cl− influx. Our results show that the VS-3 neuron's response to GABA depends profoundly on the type of signals the neuron is conveying while the transmitter binds to its receptors.

Regional distribution of calcium elevation during sensory transduction in spider mechanoreceptor neurons

Spider mechanosensory VS-3 neurons receive peripheral efferent synaptic modulation, with regional variations in the types of efferent synapses and transmitter receptors. VS-3 somata possess a voltage-activated calcium current, but the levels and time courses of calcium changes in other regions are unknown. The roles of calcium in these neurons are not completely understood, but could include modulation of both mechanosensitivity and response dynamics. Here, we measured calcium concentration rises caused by single, mechanically induced action potentials in VS-3 sensory dendrites, somata and axons, using Oregon Green BAPTA-1 fluorescence. Calcium concentration rose by approximately 1 nM following each action potential. Time courses of calcium rise and fall were similar in the three regions but the rise in amplitude was about 50% higher in the sensory dendrite than in the soma. Antibody to the Ca(V)3.1(alpha(1g)) isotype of T-type calcium channel labeled all three neuronal regions. Some Ca(V)3.1 labeling colocalized with synapsin labeling, suggesting that calcium channels play some part in efferent modulation. We conclude that mechanically stimulated action potentials start near sensory dendrite tips and pass rapidly through the neurons to the axons, activating low voltage activated calcium channels in all three regions and causing calcium concentration to rise rapidly in each region. These results suggest important roles for calcium in several stages of mechanosensation.

Micromechanical properties of consecutive layers in specialized insect cuticle: the gula ofPachnoda marginata(Coleoptera, Scarabaeidae)and the infrared sensilla ofMelanophila acuminata(Coleoptera,Buprestidae)

Insect cuticle is a highly adaptive material that fulfils a wide spectrum of different functions. Cuticle does not only build the exoskeleton with diverse moveable parts but is also an important component of a stunning variety of mechanosensory receptors. Therefore, the mechanical properties of these specialized cuticular systems are of crucial importance. We studied the different cuticular layers of the head part (gula) of the head-to-neck ball articulation of Pachnoda marginata and of the photomechanic infrared(IR) sensilla of Melanophila acuminata on the basis of cross sections. In our study, we combined histological methods (i.e. detection of the different types of cuticle by specific staining) with measurements of hardness (H) and reduced elastic modulus (Er) by nanoindentation technique. In the gula of Pachnoda we found an unusual aberrance from the well-known layering. Between the epi- and exocuticle, two meso- and one endocuticular layers are deposited which are softer and more elastic than the underlying exo- and mesocuticular layers. The hardest of all examined materials is the cuticle of the exocuticular shell of the internal sphere of the Melanophila IR sensillum with H=0.53GPa whereas the inner mesocuticular core of the sensillum represents the most elastic and softest layer with values of H=0.29GPa and Er=4.8GPa. Results are discussed with regard to the proposed functions.

Ratiometric calcium concentration estimation using LED excitation during mechanotransduction in single sensory neurons

In a previous study using Oregon Green BAPTA-1 fluorescence we found that intracellular calcium concentration in spider mechanoreceptor neurons rose during mechanical stimulation. We also showed that calcium elevation required the opening of voltage-dependent calcium channels by action potentials, and could not be produced by the receptor potential alone. While evidence for mechanisms of calcium elevation in these neurons was clear, our estimates of actual calcium concentration depended on properties of the fluorescent dye in the neuron cytoplasm that could not be verified. We have now developed a method for ratiometric estimation of calcium concentration in these neurons using Fura Red dye, excitation by two light emitting diodes (LEDs) of different wavelengths, and an avalanche photodiode fluorescence detector. The method is simple and economical to implement, allows concentration changes to be measured in the millisecond time range, and could easily be applied to a wide range of preparations. Resting calcium concentration in these neurons was about 70nM and rose to a maximum of about 400nM at firing rates above 20 action potentials per second.

Finite element modeling of arachnid slit sensilla-I. The mechanical significance of different slit arrays

Arachnid strain sensitive slit sensilla are elongated openings in the cuticle with aspect ratios (slit length l/slit width b) of up to 100. Planar Finite Element (FE) models are used to calculate the relative slit face displacements, Dc, at the centers of single slits and of arrangements of mechanically interacting slits under uni-axial compressive far-field loads. Our main objective is to quantitatively study the role of the following geometrical parameters in stimulus transformation: aspect ratio, slit shape, geometry of the slits' centerlines, load direction, lateral distance S, longitudinal shift lambda, and difference in slit length Deltal between neighboring slits. Slit face displacements are primarily sensitive to slit length and load direction but little affected by aspect ratios between 20 and 100. In stacks of five parallel slits at lateral distances typical of lyriform organs (S=0.03 l) the longitudinal shift lambda substantially influences slit compression. A change of lambda from 0 to 0.85 l causes changes of up to 420% in Dc. Even minor morphological variations in the arrangements can substantially influence the stimulus transformation. The site of transduction in real slit sensilla does not always coincide with the position of maximum slit compression predicted by simplified models.

Shunting versus inactivation: simulation of GABAergic inhibition in spider mechanoreceptors suggests that either is sufficient

Afferent neurons entering the central nervous systems of vertebrates and invertebrates receive presynaptic inhibition on their axon terminals. This usually involves an increase in membrane conductance (shunting) and depolarization (primary afferent depolarization, PAD). In arachnids and crustaceans the peripherally located parts of afferent neurons also receive efferent synapses. GABA (gamma-aminobutyric acid) plays a major role in both central and peripheral inhibition, activating chloride channels that depolarize the membrane and increase its conductance. Although both central and peripheral inhibition have been widely investigated, debate continues about the mechanisms involved, especially concerning the relative contributions of shunting versus inactivation of sodium channels by depolarization. Sensory neurons innervating spider VS-3 slit sensilla are accessible to intracellular recordings during mechanical or electrical stimulation. These neurons are inhibited by GABA, and both the electrophysiology and pharmacology of this inhibition have been studied previously. Here, we developed a Hodgkin-Huxley style model to simulate VS-3 neuron activity before and after GABA treatment. The model indicates that GABA-activated chloride current can entirely account for action potential suppression, and that either shunting or inactivation are sufficient to produce inhibition. This model also demonstrates that slowing of sodium current contributes to inhibition.

Lyriform slit sense organs on the pedipalps and spinnerets of spiders

Lyriform slits sense organs (LSSO) are a precise assembly of stress detecting cuticular slit sensilla found on the appendages of arachnids. While these structures on the legs of the wandering spider Cupennius salei are well studied in terms of morphology, function and contribution to behaviour, their distribution on pedipalps and spinnerets of spiders is not well explored. A study was therefore carried out to observe the distribution of LSSO on pedipalps and spinnerets of some spider species. Haplogyne spiders belonging to family Pholcidae have a simple complement of LSSOs represented by one or two LSSOs on their femur. The entelegyne spiders possess a complex assembly of LSSOs on the distal segments of their pedipalps. Various types of LSSOs are found on the pedipalps indicating a capacity for analysis of complex cuticular stress. It is suggested that the complexity of LSSOs on pedipalps of entel-egyne spiders relates to courtship and spermatophore transfer and may help in reproductive isolation. Lack of LSSOs on the distal segments of pedipalps leads us to infer that unlike legs, pedipalps are less likely to receive vibratory input through their distal segments. Spinnerets have a relatively simple complement of LSSOs. One LSSO is found only on anterior spinnerets and it is a common feature observed among spiders, irrespective of the variations in web building behaviour. The orb-weaving araneid Argiope pulchella, however, has two LSSOs on the anterior spinneret. As non-web builders and orb weavers do not differ markedly in terms of LSSOs on the spinnerets and LSSOs are simple in nature (type A), it is likely that spinning and weaving are not largely regulated by sensory input from LSSOs on the spinnerets.

Intracellular recording from a spider vibration receptor

The present study introduces a new preparation of a spider vibration receptor that allows intracellular recording of responses to natural mechanical or electrical stimulation of the associated mechanoreceptor cells. The spider vibration receptor is a lyriform slit sense organ made up of 21 cuticular slits located on the distal end of the metatarsus of each walking leg. The organ is stimulated when the tarsus receives substrate vibrations, which it transmits to the organ's cuticular structures, reducing the displacement to about one tenth due to geometrical reasons. Current clamp recording was used to record action potentials generated by electrical or mechanical stimuli. Square pulse stimulation identified two groups of sensory cells, the first being single-spike cells which generated only one or two action potentials and the second being multi-spike cells which produced bursts of action potentials. When the more natural mechanical sinusoidal stimulation was applied, differences in adaptation rate between the two cell types remained. In agreement with prior extracellular recordings, both cell types showed a decrease in the threshold tarsus deflection with increasing stimulus frequency. Off-responses to mechanical stimuli have also been seen in the metatarsal organ for the first time.

Spider's microstructure for sensing

The spider is well known for sensing the movements of air and preys. Bionics of the spider based on this principle is being paid great attention by many researchers. Here, this paper presents some detailed organs of the spider to make an attempt to clarify the sensing mechanism of the spider from the point view of physical structure by scanning electron microscopy. And behavior characteristics concerning sensing action are observed by optical microscopy. Compared with structures, some novel features of sense movements in micro- and nano-scale size and corresponding possible models are presented. At the same time, simple structure analysis is made to explain and prove this hypothesis.

Calcium concentration changes during sensory transduction in spider mechanoreceptor neurons

Most mechanoreceptor neurons encode mechanical signals into action potential trains within the same cell. Evidence suggests that intracellular calcium ion concentration, [Ca2+], increases during mechanotransduction, either by direct entry through mechanically activated channels or indirectly through voltage-activated calcium channels. However, little is known about the amounts of calcium involved or its roles in mechanotransduction. We estimated [Ca2+] in mechanoreceptor neurons of the spider, Cupiennius salei, during mechanical stimulation using Oregon Green BAPTA-1, and a single-compartment model of [Ca2+] as a function of action potential firing rate. Resting [Ca2+] was approximately 400 nM and increased to up to 2 microM at 30 action potentials/s. Similar levels of resting and stimulated [Ca2+] were obtained in the cell soma, axon and two parts of the sensory dendrite, including the region immediately adjacent to the site of sensory transduction. The time constant of rise and fall of [Ca2+] was 1-5 s in the dendrite and axon, but up to 15 s in the soma. Calcium elevation was dependent on action potentials and could not be induced by the receptor potential alone. Blockade of voltage-activated calcium channels by nickel ions prevented calcium increase, but thapsigargin, which empties intracellular calcium stores, had no effect. Estimates of calcium entry per action potential from fluorescence changes agreed approximately with estimates based on action potential voltage-time profile and previous reports of calcium channel properties. This first report of calcium levels during transduction in spiking mechanoreceptors suggests that calcium signaling plays important roles in primary somatosensory neurons.

Studying the deformation of arachnid slit sensilla by a fracture mechanical approach

Slit sensilla are sensory organs which measure strains in the exoskeleton of arachnids. They occur as isolated slits, in loose groups and in close parallel arrangements known as lyriform organs or compound slit sensilla. The deformations of the slits' faces induced by far-field strains acting on groups of slits are studied using Kachanov's analytical approximations for the opening displacements of cracks, a method developed within the framework of fracture mechanics. The accuracy of the approach is assessed by comparisons with results obtained by finite element analysis. The limits of its applicability to slit sensilla are found to be reached when the lateral spacing between interacting slits is less than half their length, i.e., the method is suitable for studying single slits and loose groups but not lyriform organs. The influence of a number of geometrical parameters of slit sensilla on the deformation patterns of the faces of parallel slits in generic arrangements is studied, viz., spacing between slits, longitudinal shifts between slits, and slit length. The results are presented as opening distances along the length of the cracks and in terms of normalized diagrams that relate the opening distances at mid-length of the slits to the geometrical parameters. In addition, Kachanov's method is used to find a set of slit lengths that give rise to prescribed opening distances.

Mechanotransduction in spider slit sensilla

Mechanoreception is a vital constituent of several sensory modalities and a wide range of internal regulatory processes, but fundamental mechanisms for neural detection of mechanical stimuli have been difficult to characterize because of the morphological properties of most mechanoreceptors and the nature of the stimulus itself. An invertebrate preparation, the VS-3 lyriform slit sense organ of the spider, Cupiennius salei, has proved useful because it possesses large mechanosensory neurons, whose cell bodies are close to the sites of sensory transduction, and accessible to intracellular recording during mechanotransduction. This has made it possible to observe and experiment with all the major stages of mechanosensation. Here, we describe several important findings from this preparation, including the estimated number, conductance and ionic selectivity of the ion channels responsible for mechanotransduction, the major voltage-activated ion channels responsible for action potential encoding and control of the dynamic properties of the neurons, the location of action potential initiation following mechanical stimulation, and the efferent control of mechanoreception. While many details of mechanosensation remain to be discovered, the VS-3 system continues to offer important opportunities to advance our understanding of this crucial physiological process.

Active signal conduction through the sensory dendrite of a spider mechanoreceptor neuron

Rapid responses to sensory stimulation are crucial for survival. This must be especially true for mechanical stimuli containing temporal information, such as vibration. Sensory transduction occurs at the tips of relatively long sensory dendrites in many mechanoreceptors of both vertebrates and invertebrates, but little is known about the electrical properties of these crucial links between transduction and action potential generation. The VS-3 slit-sense organ of the spider Cupiennius salei contains bipolar mechanosensory neurons that allow voltage-clamp recording from the somata, whereas mechanotransduction occurs at the tips of 100- to 200-microm-long sensory dendrites. We studied the properties of VS-3 sensory dendrites using three approaches. Voltage-jump experiments measured the spread of voltage outward from the soma by observing total mechanically transduced charge recovered at the soma as a function of time after a voltage jump. Frequency-response measurements between pseudorandom mechanical stimulation and somatic membrane potential estimated the passive cable properties of the dendrite for voltage spread in the opposite direction. Both of these sets of data indicated that the dendritic cable would significantly attenuate and retard a passively propagated receptor potential. Finally, current-clamp observations of receptor potentials and action potentials indicated that action potentials normally start at the distal dendrites and propagate regeneratively to the soma, reducing the temporal delay of passive conduction.