1
|
Young MW, Webster C, Tanis D, Schurr AF, Hanna CS, Lynch SK, Ratkiewicz AS, Dickinson E, Kong FH, Granatosky MC. What does climbing mean exactly? Assessing spatiotemporal gait characteristics of inclined locomotion in parrots. J Comp Physiol A Neuroethol Sens Neural Behav Physiol 2024; 210:19-33. [PMID: 37140643 DOI: 10.1007/s00359-023-01630-0] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2022] [Revised: 03/20/2023] [Accepted: 04/03/2023] [Indexed: 05/05/2023]
Abstract
At what inclination does climbing begin? In this paper, we investigate the transition from walking to climbing in two species of parrot (Agapornis roseicollis and Nymphicus hollandicus) that are known to incorporate both their tail and their craniocervical system into the gait cycle during vertical climbing. Locomotor behaviors ranging in inclination were observed at angles between 0° and 90° for A. roseicollis, and 45°-85° degrees for N. hollandicus. Use of the tail in both species was observed at 45° inclination, and was joined at higher inclinations (> 65°) by use of the craniocervical system. Additionally, as inclination approached (but remained below) 90°, locomotor speeds were reduced while gaits were characterized by higher duty factors and lower stride frequency. These gait changes are consistent with those thought to increase stability. At 90°, A. roseicollis significantly increased its stride length, resulting in higher overall locomotor speed. Collectively these data demonstrate that the transition between horizontal walking and vertical climbing is gradual, incrementally altering several components of gait as inclinations increase. Such data underscore the need for further investigation into how exactly "climbing" is defined and the specific locomotor characteristics that differentiate this behavior from level walking.
Collapse
Affiliation(s)
- Melody W Young
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Clyde Webster
- School of Mechanical and Mechatronic Engineering, The University of Technology Sydney (UTS), Sydney, Australia
| | - Daniel Tanis
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Alissa F Schurr
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Christopher S Hanna
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Samantha K Lynch
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Aleksandra S Ratkiewicz
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Edwin Dickinson
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA
| | - Felix H Kong
- School of Mechanical and Mechatronic Engineering, The University of Technology Sydney (UTS), Sydney, Australia
| | - Michael C Granatosky
- Department of Anatomy, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA.
- Center for Biomedical Innovation, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY, USA.
| |
Collapse
|
2
|
Sutton GP, Szczecinski NS, Quinn RD, Chiel HJ. Phase shift between joint rotation and actuation reflects dominant forces and predicts muscle activation patterns. PNAS NEXUS 2023; 2:pgad298. [PMID: 37822766 PMCID: PMC10563792 DOI: 10.1093/pnasnexus/pgad298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Accepted: 08/29/2023] [Indexed: 10/13/2023]
Abstract
During behavior, the work done by actuators on the body can be resisted by the body's inertia, elastic forces, gravity, or viscosity. The dominant forces that resist actuation have major consequences on the control of that behavior. In the literature, features and actuation of locomotion, for example, have been successfully predicted by nondimensional numbers (e.g. Froude number and Reynolds number) that generally express the ratio between two of these forces (gravitational, inertial, elastic, and viscous). However, animals of different sizes or motions at different speeds may not share the same dominant forces within a behavior, making ratios of just two of these forces less useful. Thus, for a broad comparison of behavior across many orders of magnitude of limb length and cycle period, a dimensionless number that includes gravitational, inertial, elastic, and viscous forces is needed. This study proposes a nondimensional number that relates these four forces: the phase shift (ϕ) between the displacement of the limb and the actuator force that moves it. Using allometric scaling laws, ϕ for terrestrial walking is expressed as a function of the limb length and the cycle period at which the limb steps. Scale-dependent values of ϕ are used to explain and predict the electromyographic (EMG) patterns employed by different animals as they walk.
Collapse
Affiliation(s)
- G P Sutton
- School of Life Sciences, University of Lincoln, Lincoln LN6 7TS, UK
| | - N S Szczecinski
- Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506-6106, USA
| | - R D Quinn
- Department of Mechanical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| | - H J Chiel
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA
- Department of Neuroscience, Case Western Reserve University, Cleveland, OH 44106, USA
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| |
Collapse
|
3
|
Gueugneau N, Martin A, Gaveau J, Papaxanthis C. Gravity-efficient motor control is associated with contraction-dependent intracortical inhibition. iScience 2023; 26:107150. [PMID: 37534144 PMCID: PMC10391940 DOI: 10.1016/j.isci.2023.107150] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/21/2022] [Revised: 06/04/2023] [Accepted: 06/12/2023] [Indexed: 08/04/2023] Open
Abstract
In humans, moving efficiently along the gravity axis requires shifts in muscular contraction modes. Raising the arm up involves shortening contractions of arm flexors, whereas the reverse movement can rely on lengthening contractions with the help of gravity. Although this control mode is universal, the neuromuscular mechanisms that drive gravity-oriented movements remain unknown. Here, we designed neurophysiological experiments that aimed to track the modulations of cortical, spinal, and muscular outputs of arm flexors during vertical movements with specific kinematics (i.e., optimal motor commands). We report a specific drop of corticospinal excitability during lengthening versus shortening contractions, with an increase of intracortical inhibition and no change in spinal motoneuron responsiveness. We discuss these contraction-dependent modulations of the supraspinal motor output in the light of feedforward mechanisms that may support gravity-tuned motor control. Generally, these results shed a new perspective on the neural policy that optimizes movement control along the gravity axis.
Collapse
Affiliation(s)
- Nicolas Gueugneau
- INSERM UMR1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, 21000 Dijon, France
| | - Alain Martin
- INSERM UMR1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, 21000 Dijon, France
| | - Jérémie Gaveau
- INSERM UMR1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, 21000 Dijon, France
| | - Charalambos Papaxanthis
- INSERM UMR1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, 21000 Dijon, France
| |
Collapse
|
4
|
Mangan M, Floreano D, Yasui K, Trimmer BA, Gravish N, Hauert S, Webb B, Manoonpong P, Szczecinski N. A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research. BIOINSPIRATION & BIOMIMETICS 2023; 18:035005. [PMID: 36881919 DOI: 10.1088/1748-3190/acc223] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/19/2022] [Accepted: 03/07/2023] [Indexed: 06/18/2023]
Abstract
Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for robot designers: Research on flying and crawling invertebrates has inspired new materials and geometries from which robot bodies (their morphologies) can be constructed, enabling a new generation of softer, smaller, and lighter robots. Research on walking insects has informed the design of new systems for controlling robot bodies (their motion control) and adapting their motion to their environment without costly computational methods. And research combining wet and computational neuroscience with robotic validation methods has revealed the structure and function of core circuits in the insect brain responsible for the navigation and swarming capabilities (their mental faculties) displayed by foraging insects. The last decade has seen significant progress in the application of principles extracted from invertebrates, as well as the application of biomimetic robots to model and better understand how animals function. This Perspectives paper on the past 10 years of the Living Machines conference outlines some of the most exciting recent advances in each of these fields before outlining lessons gleaned and the outlook for the next decade of invertebrate robotic research.
Collapse
Affiliation(s)
- Michael Mangan
- The University of Sheffield, Mappin St, Sheffield S10 2TN, United Kingdom
| | - Dario Floreano
- Ecole Polytechnique Federale de Lausanne, Laboratory of Intelligent Systems, Station 9, Lausanne CH-1015, Switzerland
| | - Kotaro Yasui
- Tohoku University, Frontier Research Institute for Interdisciplinary Sciences, 6-3 Aramaki aza Aoba, Aoba-ku, Sendai 980-8578, Japan
| | - Barry A Trimmer
- Tufts University, Biology, 200 Boston Av, Boston, MA 02111, United States of America
| | - Nick Gravish
- University of California San Diego, Mechanical and Aerospace Engineering, Building EBU II, La Jolla, CA 92093, United States of America
| | - Sabine Hauert
- University of Bristol, Engineering Mathematics, Bristol BS8 1QU, United Kingdom
| | - Barbara Webb
- University of Edinburgh, School of Informatics, 10 Crichton St, Edinburgh EH8 9AB, United Kingdom
| | - Poramate Manoonpong
- College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China
- Bio-Inspired Robotics and Neural Engineering Laboratory, School of Information Science and Technology, Vidyasirimedhi Institute of Science and Technology, Wangchan Valley, Rayong 21210, Thailand
| | - Nicholas Szczecinski
- West Virginia University, Mechanical and Aerospace Engineering, Morgantown, WV 26506-6201, United States of America
| |
Collapse
|
5
|
Ito Y, Shiramatsu TI, Ishida N, Oshima K, Magami K, Takahashi H. Spontaneous beat synchronization in rats: Neural dynamics and motor entrainment. SCIENCE ADVANCES 2022; 8:eabo7019. [PMID: 36367945 PMCID: PMC9651867 DOI: 10.1126/sciadv.abo7019] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/19/2022] [Accepted: 09/26/2022] [Indexed: 06/16/2023]
Abstract
Beat perception and synchronization within 120 to 140 beats/min (BPM) are common in humans and frequently used in music composition. Why beat synchronization is uncommon in some species and the mechanism determining the optimal tempo are unclear. Here, we examined physical movements and neural activities in rats to determine their beat sensitivity. Close inspection of head movements and neural recordings revealed that rats displayed prominent beat synchronization and activities in the auditory cortex within 120 to 140 BPM. Mathematical modeling suggests that short-term adaptation underlies this beat tuning. Our results support the hypothesis that the optimal tempo for beat synchronization is determined by the time constant of neural dynamics conserved across species, rather than the species-specific time constant of physical movements. Thus, latent neural propensity for auditory motor entrainment may provide a basis for human entrainment that is much more widespread than currently thought. Further studies comparing humans and animals will offer insights into the origins of music and dancing.
Collapse
|
6
|
Sutton GP. Biomechanics: Passive forces set the stage for stick insects. Curr Biol 2022; 32:R472-R474. [PMID: 35609546 DOI: 10.1016/j.cub.2022.03.042] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
Abstract
For small animals like insects, passive elastic forces within their joints are extremely important to control of limb motion. A new study shows that these passive forces are tuned to the needs of individual joints.
Collapse
Affiliation(s)
- G P Sutton
- School of Life Sciences, University of Lincoln, Lincoln LN6 7TS, UK.
| |
Collapse
|
7
|
Fu Q, Astley HC, Li C. Snakes combine vertical and lateral bending to traverse uneven terrain. BIOINSPIRATION & BIOMIMETICS 2022; 17:036009. [PMID: 35235918 DOI: 10.1088/1748-3190/ac59c5] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/23/2021] [Accepted: 03/01/2022] [Indexed: 06/14/2023]
Abstract
Terrestrial locomotion requires generating appropriate ground reaction forces which depend on substrate geometry and physical properties. The richness of positions and orientations of terrain features in the 3D world gives limbless animals like snakes that can bend their body versatility to generate forces from different contact areas for propulsion. Despite many previous studies of how snakes use lateral body bending for propulsion on relatively flat surfaces with lateral contact points, little is known about whether and how much snakes use vertical body bending in combination with lateral bending in 3D terrain. This lack had contributed to snake robots being inferior to animals in stability, efficiency, and versatility when traversing complex 3D environments. Here, to begin to elucidate this, we studied how the generalist corn snake traversed an uneven arena of blocks of random height variation five times its body height. The animal traversed the uneven terrain with perfect stability by propagating 3D bending down its body with little transverse motion (11° slip angle). Although the animal preferred moving through valleys with higher neighboring blocks, it did not prefer lateral bending. Among body-terrain contact regions that potentially provide propulsion, 52% were formed by vertical body bending and 48% by lateral bending. The combination of vertical and lateral bending may dramatically expand the sources of propulsive forces available to limbless locomotors by utilizing various asperities available in 3D terrain. Direct measurements of contact forces are necessary to further understand how snakes coordinate 3D bending along the entire body via sensory feedback to propel through 3D terrain. These studies will open a path to new propulsive mechanisms for snake robots, potentially increasing the performance and versatility in 3D terrain.
Collapse
Affiliation(s)
- Qiyuan Fu
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, United States of America
| | - Henry C Astley
- Department of Biology, University of Akron, Akron, OH 44325, United States of America
| | - Chen Li
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, United States of America
| |
Collapse
|
8
|
Guschlbauer C, Hooper SL, Mantziaris C, Schwarz A, Szczecinski NS, Büschges A. Correlation between ranges of leg walking angles and passive rest angles among leg types in stick insects. Curr Biol 2022; 32:2334-2340.e3. [DOI: 10.1016/j.cub.2022.04.013] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/02/2021] [Revised: 02/07/2022] [Accepted: 04/06/2022] [Indexed: 12/12/2022]
|
9
|
Granatosky MC, McElroy EJ. Stride frequency or length? A phylogenetic approach to understand how animals regulate locomotor speed. J Exp Biol 2022; 225:274352. [PMID: 35258613 DOI: 10.1242/jeb.243231] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/25/2021] [Accepted: 01/17/2022] [Indexed: 12/11/2022]
Abstract
Speed regulation in animals involves stride frequency and stride length. While the relationship between these variables has been well documented, it remains unresolved whether animals primarily modify stride frequency or stride length to increase speed. In this study, we explored the interrelationships between these three variables across a sample of 103 tetrapods and assessed whether speed regulation strategy is influenced by mechanical, allometric, phylogenetic or ecological factors. We observed that crouched terrestrial species tend to regulate speed through stride frequency. Such a strategy is energetically costly, but results in greater locomotor maneuverability and greater stability. In contrast, regulating speed through stride length is closely tied to larger arboreal animals with relatively extended limbs. Such movements reduce substrate oscillations on thin arboreal supports and/or helps to reduce swing phase costs. The slope of speed on frequency is lower in small crouched animals than in large-bodied erect species. As a result, substantially more rapid limb movements are matched with only small speed increases in crouched, small-bodied animals. Furthermore, the slope of speed on stride length was inversely proportional to body mass. As such, small changes in stride length can result in relatively rapid speed increases for small-bodied species. These results are somewhat counterintuitive, in that larger species, which have longer limbs and take longer strides, do not appear to gain as much speed increase out of lengthening their stride. Conversely, smaller species that cycle their limbs rapidly do not gain as much speed out of increasing stride frequency as do larger species.
Collapse
Affiliation(s)
- Michael C Granatosky
- Department of Anatomy, College of Osteopathic Medicine, New York Institute of Technology, Old Westbury, NY 11568, USA.,Center for Biomedical Innovation, New York Institute of Technology College of Osteopathic Medicine, Old Westbury, NY 11568, USA
| | - Eric J McElroy
- Department of Biology, College of Charleston, Charleston, SC 29424, USA
| |
Collapse
|
10
|
Young FR, Chiel HJ, Tresch MC, Heckman CJ, Hunt AJ, Quinn RD. Analyzing Modeled Torque Profiles to Understand Scale-Dependent Active Muscle Responses in the Hip Joint. Biomimetics (Basel) 2022; 7:biomimetics7010017. [PMID: 35225910 PMCID: PMC8883942 DOI: 10.3390/biomimetics7010017] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2021] [Revised: 01/13/2022] [Accepted: 01/18/2022] [Indexed: 11/18/2022] Open
Abstract
Animal locomotion is influenced by a combination of constituent joint torques (e.g., due to limb inertia and passive viscoelasticity), which determine the necessary muscular response to move the limb. Across animal size-scales, the relative contributions of these constituent joint torques affect the muscular response in different ways. We used a multi-muscle biomechanical model to analyze how passive torque components change due to an animal’s size-scale during locomotion. By changing the size-scale of the model, we characterized emergent muscular responses at the hip as a result of the changing constituent torque profile. Specifically, we found that activation phases between extensor and flexor torques to be opposite between small and large sizes for the same kinematic motion. These results suggest general principles of how animal size affects neural control strategies. Our modeled torque profiles show a strong agreement with documented hindlimb torque during locomotion and can provide insights into the neural organization and muscle activation behavior of animals whose motion has not been extensively documented.
Collapse
Affiliation(s)
- Fletcher R. Young
- Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA;
- Correspondence:
| | - Hillel J. Chiel
- Department of Biology, Case Western Reserve University, Cleveland, OH 44106, USA;
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
- Department of Neuroscience, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Matthew C. Tresch
- Biomedical Engineering, Physical Medicine and Rehabilitation, Physiology, Northwestern University, Chicago, IL 60611, USA;
| | - Charles J. Heckman
- Departments of Neuroscience, Physical Medicine and Rehabilitation, Physical Therapy and Human Movement Sciences, Northwestern University, Chicago, IL 60611, USA;
| | - Alexander J. Hunt
- Department of Mechanical and Materials Engineering, Portland State University, Portland, OR 97201, USA;
| | - Roger D. Quinn
- Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA;
| |
Collapse
|
11
|
Abstract
When animals walk overground, mechanical stimuli activate various receptors located in muscles, joints, and skin. Afferents from these mechanoreceptors project to neuronal networks controlling locomotion in the spinal cord and brain. The dynamic interactions between the control systems at different levels of the neuraxis ensure that locomotion adjusts to its environment and meets task demands. In this article, we describe and discuss the essential contribution of somatosensory feedback to locomotion. We start with a discussion of how biomechanical properties of the body affect somatosensory feedback. We follow with the different types of mechanoreceptors and somatosensory afferents and their activity during locomotion. We then describe central projections to locomotor networks and the modulation of somatosensory feedback during locomotion and its mechanisms. We then discuss experimental approaches and animal models used to investigate the control of locomotion by somatosensory feedback before providing an overview of the different functional roles of somatosensory feedback for locomotion. Lastly, we briefly describe the role of somatosensory feedback in the recovery of locomotion after neurological injury. We highlight the fact that somatosensory feedback is an essential component of a highly integrated system for locomotor control. © 2021 American Physiological Society. Compr Physiol 11:1-71, 2021.
Collapse
Affiliation(s)
- Alain Frigon
- Department of Pharmacology-Physiology, Faculty of Medicine and Health Sciences, Université de Sherbrooke, Quebec, Canada
| | - Turgay Akay
- Department of Medical Neuroscience, Atlantic Mobility Action Project, Brain Repair Center, Dalhousie University, Halifax, Nova Scotia, Canada
| | - Boris I Prilutsky
- School of Biological Sciences, Georgia Institute of Technology, Atlanta, Georgia, USA
| |
Collapse
|
12
|
Dewolf AH, Ivanenko YP, Mesquita RM, Willems PA. Postural control in the elephant. J Exp Biol 2021; 224:272578. [PMID: 34676869 DOI: 10.1242/jeb.243648] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/12/2021] [Accepted: 10/18/2021] [Indexed: 11/20/2022]
Abstract
As the largest extant legged animals, elephants arguably face the most extreme challenge for stable standing. In this study, we investigated the displacement of the centre of pressure of 12 elephants during quiet standing. We found that the average amplitude of the oscillations in the lateral and fore-aft directions was less than 1.5 cm. Such amplitudes for postural oscillation are comparable with those of dogs and other species, suggesting that some aspects of sensorimotor postural control do not scale with size.
Collapse
Affiliation(s)
- A H Dewolf
- Laboratoire de physiologie et biomécanique de la locomotion, IoNS Université catholique de Louvain, 1348 Louvain-la-Neuve, Belgium.,Center of Space Biomedicine, University of Rome Tor Vergata, 00133 Rome, Italy
| | - Y P Ivanenko
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179 Rome, Italy
| | - R M Mesquita
- Laboratoire de physiologie et biomécanique de la locomotion, IoNS Université catholique de Louvain, 1348 Louvain-la-Neuve, Belgium
| | - P A Willems
- Laboratoire de physiologie et biomécanique de la locomotion, IoNS Université catholique de Louvain, 1348 Louvain-la-Neuve, Belgium
| |
Collapse
|
13
|
The Role of Muscle Spindle Feedback in the Guidance of Hindlimb Movement by the Ipsilateral Forelimb during Locomotion in Mice. eNeuro 2021; 8:ENEURO.0432-21.2021. [PMID: 34764190 PMCID: PMC8641919 DOI: 10.1523/eneuro.0432-21.2021] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2021] [Revised: 10/14/2021] [Accepted: 11/02/2021] [Indexed: 11/21/2022] Open
Abstract
Safe and efficient locomotion relies on placing the foot on a reliable surface at the end of each leg swing movement. Visual information has been shown to be important for determining the location of foot placement in humans during walking when precision is required. Yet in quadrupedal animals where the hindlimbs are outside of the visual field, such as in mice, the mechanisms by which precise foot placement is achieved remain unclear. Here we show that the placement of the hindlimb paw is determined by the position of the forelimb paw during normal locomotion and in the presence of perturbations. When a perturbation elicits a stumbling corrective reaction, we found that the forelimb paw shifts posteriorly relative to body at the end of stance, and this spatial shift is echoed in hindlimb paw placement at the end of the swing movement. Using a mutant mouse line in which muscle spindle feedback is selectively removed, we show that this posterior shift of paw placement is dependent on muscle spindle feedback in the hindlimb but not in the forelimb. These findings uncover a neuronal mechanism that is independent of vision to ensure safe locomotion during perturbation. This mechanism adds to our general knowledge of how the nervous system controls targeted limb movements and could inform the development of autonomous walking machines.
Collapse
|
14
|
Gaveau J, Grospretre S, Berret B, Angelaki DE, Papaxanthis C. A cross-species neural integration of gravity for motor optimization. SCIENCE ADVANCES 2021; 7:7/15/eabf7800. [PMID: 33827823 PMCID: PMC8026131 DOI: 10.1126/sciadv.abf7800] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/18/2020] [Accepted: 02/19/2021] [Indexed: 05/20/2023]
Abstract
Recent kinematic results, combined with model simulations, have provided support for the hypothesis that the human brain shapes motor patterns that use gravity effects to minimize muscle effort. Because many different muscular activation patterns can give rise to the same trajectory, here, we specifically investigate gravity-related movement properties by analyzing muscular activation patterns during single-degree-of-freedom arm movements in various directions. Using a well-known decomposition method of tonic and phasic electromyographic activities, we demonstrate that phasic electromyograms (EMGs) present systematic negative phases. This negativity reveals the optimal motor plan's neural signature, where the motor system harvests the mechanical effects of gravity to accelerate downward and decelerate upward movements, thereby saving muscle effort. We compare experimental findings in humans to monkeys, generalizing the Effort-optimization strategy across species.
Collapse
Affiliation(s)
- Jeremie Gaveau
- INSERM U1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, F-21000 Dijon, France.
- Department of Neuroscience, Baylor College of Medicine, Houston, TX 77030, USA
| | - Sidney Grospretre
- INSERM U1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, F-21000 Dijon, France
- EA4660-C3S Laboratory-Culture, Sport, Health and Society Univ. Bourgogne Franche-Comté, Besançon, France
| | - Bastien Berret
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d'Orléans, Orléans, France
- Institut Universitaire de France (IUF) , Paris, France
| | | | - Charalambos Papaxanthis
- INSERM U1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, F-21000 Dijon, France
| |
Collapse
|
15
|
Ramalingasetty ST, Danner SM, Arreguit J, Markin SN, Rodarie D, Kathe C, Courtine G, Rybak IA, Ijspeert AJ. A Whole-Body Musculoskeletal Model of the Mouse. IEEE ACCESS : PRACTICAL INNOVATIONS, OPEN SOLUTIONS 2021; 9:163861-163881. [PMID: 35211364 PMCID: PMC8865483 DOI: 10.1109/access.2021.3133078] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/08/2023]
Abstract
Neural control of movement cannot be fully understood without careful consideration of interactions between the neural and biomechanical components. Recent advancements in mouse molecular genetics allow for the identification and manipulation of constituent elements underlying the neural control of movement. To complement experimental studies and investigate the mechanisms by which the neural circuitry interacts with the body and the environment, computational studies modeling motor behaviors in mice need to incorporate a model of the mouse musculoskeletal system. Here, we present the first fully articulated musculoskeletal model of the mouse. The mouse skeletal system has been developed from anatomical references and includes the sets of bones in all body compartments, including four limbs, spine, head and tail. Joints between all bones allow for simulation of full 3D mouse kinematics and kinetics. Hindlimb and forelimb musculature has been implemented using Hill-type muscle models. We analyzed the mouse whole-body model and described the moment-arms for different hindlimb and forelimb muscles, the moments applied by these muscles on the joints, and their involvement in limb movements at different limb/body configurations. The model represents a necessary step for the subsequent development of a comprehensive neuro-biomechanical model of freely behaving mice; this will close the loop between the neural control and the physical interactions between the body and the environment.
Collapse
Affiliation(s)
- Shravan Tata Ramalingasetty
- Biorobotic Laboratory (BioRob), School of Engineering, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| | - Simon M. Danner
- Department of Neurobiology and Anatomy, College of Medicine, Drexel University, Philadelphia, PA 19104, USA
| | - Jonathan Arreguit
- Biorobotic Laboratory (BioRob), School of Engineering, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| | - Sergey N. Markin
- Department of Neurobiology and Anatomy, College of Medicine, Drexel University, Philadelphia, PA 19104, USA
| | - Dimitri Rodarie
- BBP-CORE, Campus Biotech, École Polytechnique Fédérale de Lausanne, 1202 Geneva, Switzerland
| | - Claudia Kathe
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| | - Grégoire Courtine
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| | - Ilya A. Rybak
- Department of Neurobiology and Anatomy, College of Medicine, Drexel University, Philadelphia, PA 19104, USA
| | - Auke Jan Ijspeert
- Biorobotic Laboratory (BioRob), School of Engineering, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| |
Collapse
|
16
|
Abstract
Octopus arm nervous systems have great arm-local information processing capabilities, raising the possibility each arm functions semi-independently. A recent two-choice behavioral study suggests, however, that the brain is required to learn, and choose in each trial, correct arm direction.
Collapse
Affiliation(s)
- Scott L Hooper
- Department of Biological Sciences, Ohio University, Athens, OH 45701, USA.
| |
Collapse
|
17
|
Weihmann T. Survey of biomechanical aspects of arthropod terrestrialisation - Substrate bound legged locomotion. ARTHROPOD STRUCTURE & DEVELOPMENT 2020; 59:100983. [PMID: 33160205 DOI: 10.1016/j.asd.2020.100983] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/05/2020] [Revised: 07/21/2020] [Accepted: 07/30/2020] [Indexed: 06/11/2023]
Abstract
Arthropods are the most diverse clade on earth with regard to both species number and variability of body plans. Their general body plan is characterised by variable numbers of legs, and many-legged locomotion is an essential aspect of many aquatic and terrestrial arthropod species. Moreover, arthropods belong to the first groups of animals to colonise subaerial habitats, and they did so repeatedly and independently in a couple of clades. Those arthropod clades that colonised land habitats were equipped with highly variable body plans and locomotor apparatuses. Proceeding from their respective specific anatomies, they were challenged with strongly changing environmental conditions as well as altered physical and physiological constraints. This review explores the transitions from aquatic to terrestrial habitats across the different arthropod body plans and explains the major mechanisms and principles that constrain design and function of a range of locomotor apparatuses. Important aspects of movement physiology addressed here include the effects of different numbers of legs, different body sizes, miniaturisation and simplification of body plans and different ratios of inertial and damping forces. The article's focus is on continuous legged locomotion, but related ecological and behavioural aspects are also taken into account.
Collapse
Affiliation(s)
- Tom Weihmann
- Dept. of Animal Physiology, Institute of Zoology, University of Cologne, Zülpicher Strasse 47b, 50674, Cologne, Germany.
| |
Collapse
|
18
|
Goldsmith CA, Szczecinski NS, Quinn RD. Neurodynamic modeling of the fruit fly Drosophila melanogaster. BIOINSPIRATION & BIOMIMETICS 2020; 15:065003. [PMID: 32924978 DOI: 10.1088/1748-3190/ab9e52] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
This manuscript describes neuromechanical modeling of the fruit fly Drosophila melanogaster in the form of a hexapod robot, Drosophibot, and an accompanying dynamic simulation. Drosophibot is a testbed for real-time dynamical neural controllers modeled after the anatomy and function of the insect nervous system. As such, Drosophibot has been designed to capture features of the animal's biomechanics in order to better test the neural controllers. These features include: dynamically scaling the robot to match the fruit fly by designing its joint elasticity and movement speed; a biomimetic actuator control scheme that converts neural activity into motion in the same way as observed in insects; biomimetic sensing, including proprioception from all leg joints and strain sensing from all leg segments; and passively compliant tarsi that mimic the animal's passive compliance to the walking substrate. We incorporated these features into a dynamical simulation of Drosophibot, and demonstrate that its actuators and sensors perform in an animal-like way. We used this simulation to test a neural walking controller based on anatomical and behavioral data from insects. Finally, we describe Drosophibot's hardware and show that the animal-like features of the simulation transfer to the physical robot.
Collapse
Affiliation(s)
- C A Goldsmith
- Case Western Reserve University, 10900 Euclid Ave, Cleveland, OH 44106, United States of America
| | - N S Szczecinski
- Case Western Reserve University, 10900 Euclid Ave, Cleveland, OH 44106, United States of America
| | - R D Quinn
- Case Western Reserve University, 10900 Euclid Ave, Cleveland, OH 44106, United States of America
| |
Collapse
|
19
|
Akay T. Sensory Feedback Control of Locomotor Pattern Generation in Cats and Mice. Neuroscience 2020; 450:161-167. [PMID: 32422335 DOI: 10.1016/j.neuroscience.2020.05.008] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/13/2020] [Revised: 03/31/2020] [Accepted: 05/05/2020] [Indexed: 01/02/2023]
Abstract
Traditionally, research aimed at the understanding of the sensory control of terrestrial mammalian locomotion has focused on cats as the animal model. But advances in molecular genetics and new methods to record movement in small animals have moved mice into the forefront of locomotor research. In this review article, I will first give an overview of what is known about sensory feedback control of locomotion, mainly emerged from experiments performed on cats. This overview will not be an exhaustive overview, but will rather aim to give a broad picture of what has been learned about the sensory control of locomotion using cats as the animal model. I will then give a brief summary of how the mouse is adding to these insights.
Collapse
Affiliation(s)
- Turgay Akay
- Dalhousie University, Dept. of Medical Neuroscience, Atlantic Mobility Action Project, Brain Repair Center, Halifax, NS, Canada.
| |
Collapse
|
20
|
Granatosky MC. Testing the propulsive role of m. peroneus longus during quadrupedal walking in Varanus exanthematicus. JOURNAL OF EXPERIMENTAL ZOOLOGY PART 2020; 333:325-332. [PMID: 32297482 DOI: 10.1002/jez.2361] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/23/2020] [Revised: 03/14/2020] [Accepted: 03/31/2020] [Indexed: 12/15/2022]
Abstract
Some varanid lizards show a prominent and highly distinctive lateral calcaneal process. It has been posited that this structure serves as a lateral "heel" to increase the moment arm for m. peroneus longus, allowing it to function as a powerful propulsive muscle. However, to confirm that m. peroneus longus serves this function requires electromyographic data showing activity during tarsal plantarflexion in the late part of the stance phase. Muscle activity patterns of m. peroneus longus, m. tibialis anterior, and mm. gastrocnemii were collected from two savannah monitors (Varanus exanthematicus) during quadrupedal walking. Across strides, m. peroneus longus shows an early onset just before hindlimb touchdown and an offset that is highly correlated with that of mm. gastrocnemii. These patterns are consistent across individuals. However, the fact that the first onset of m. peroneus longus appears to be around the end of swing phase, with activity continuing throughout the remainder of stance, suggests that this muscle likely serves other functional purposes during locomotion beside propulsion. This, paired with the fact that qualitative comparisons of m. peroneus longus activity across other lizard species reveal remarkably similar patterns, suggests the propulsive role of m. peroneus longus in V. exanthematicus was probably built upon existing muscle activity patterns present in ancestral squamates and then exaggerated through modifications to lateral calcaneal heel and the associated proximal expansion of the fifth metatarsal.
Collapse
|
21
|
Clifton GT, Holway D, Gravish N. Uneven substrates constrain walking speed in ants through modulation of stride frequency more than stride length. ROYAL SOCIETY OPEN SCIENCE 2020; 7:192068. [PMID: 32269814 PMCID: PMC7137955 DOI: 10.1098/rsos.192068] [Citation(s) in RCA: 12] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/02/2019] [Accepted: 02/28/2020] [Indexed: 06/11/2023]
Abstract
Natural terrain is rarely flat. Substrate irregularities challenge walking animals to maintain stability, yet we lack quantitative assessments of walking performance and limb kinematics on naturally uneven ground. We measured how continually uneven 3D-printed substrates influence walking performance of Argentine ants by measuring walking speeds of workers from laboratory colonies and by testing colony-wide substrate preference in field experiments. Tracking limb motion in over 8000 videos, we used statistical models that associate walking speed with limb kinematic parameters to compare movement over flat versus uneven ground of controlled dimensions. We found that uneven substrates reduced preferred and peak walking speeds by up to 42% and that ants actively avoided uneven terrain in the field. Observed speed reductions were modulated primarily by shifts in stride frequency instead of stride length (flat R 2: 0.91 versus 0.50), a pattern consistent across flat and uneven substrates. Mixed effect modelling revealed that walking speeds on uneven substrates were accurately predicted based on flat walking data for over 89% of strides. Those strides that were not well modelled primarily involved limb perturbations, including missteps, active foot repositioning and slipping. Together these findings relate kinematic mechanisms underlying walking performance on uneven terrain to ecologically relevant measures under field conditions.
Collapse
Affiliation(s)
- G. T. Clifton
- Department of Mechanical and Aerospace Engineering, Behavior and Evolution, University of California, San Diego, USA
| | - D. Holway
- Division of Biological Science, Section of Ecology, Behavior and Evolution, University of California, San Diego, USA
| | - N. Gravish
- Department of Mechanical and Aerospace Engineering, Behavior and Evolution, University of California, San Diego, USA
| |
Collapse
|
22
|
Mohamed Thangal SN, Donelan JM. Scaling of inertial delays in terrestrial mammals. PLoS One 2020; 15:e0217188. [PMID: 32017765 PMCID: PMC6999919 DOI: 10.1371/journal.pone.0217188] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/02/2019] [Accepted: 01/12/2020] [Indexed: 11/18/2022] Open
Abstract
As part of its response to a perturbation, an animal often needs to reposition its body. Inertia acts to oppose the corrective motion, delaying the completion of the movement-we refer to this elapsed time as inertial delay. As animal size increases, muscle moment arms also increase, but muscles are proportionally weaker, and limb inertia is proportionally larger. Consequently, the scaling of inertial delays is complex. Our intent is to determine how quickly different sized animals can produce corrective movements when their muscles act at their force capacity, relative to the time within which those movements need to be performed. Here, we quantify inertial delay using two biomechanical models representing common scenarios in animal locomotion: a distributed mass pendulum approximating swing limb repositioning (swing task), and an inverted pendulum approximating whole body posture recovery (posture task). We parameterized the anatomical, muscular, and inertial properties of these models using literature scaling relationships, then determined inertial delay for each task across a large range of movement magnitudes and the full range of terrestrial mammal sizes. We found that inertial delays scaled with an average of M0.28 in the swing task and M0.35 in the posture task across movement magnitudes-larger animals require more absolute time to perform the same movement as small animals. The time available to complete a movement also increases with animal size, but less steeply. Consequently, inertial delays comprise a greater fraction of swing duration and other characteristic movement times in larger animals. We also compared inertial delays to the other component delays within the stimulus-response pathway. As movement magnitude increased, inertial delays exceeded these sensorimotor delays, and this occurred for smaller movements in larger animals. Inertial delays appear to be a challenge for motor control, particularly for bigger movements in larger animals.
Collapse
Affiliation(s)
| | - J. Maxwell Donelan
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada
| |
Collapse
|
23
|
Naris M, Szczecinski NS, Quinn RD. A neuromechanical model exploring the role of the common inhibitor motor neuron in insect locomotion. BIOLOGICAL CYBERNETICS 2020; 114:23-41. [PMID: 31788747 DOI: 10.1007/s00422-019-00811-y] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/08/2019] [Accepted: 11/18/2019] [Indexed: 06/10/2023]
Abstract
In this work, we analyze a simplified, dynamical, closed-loop, neuromechanical simulation of insect joint control. We are specifically interested in two elements: (1) how slow muscle fibers may serve as temporal integrators of sensory feedback and (2) the role of common inhibitory (CI) motor neurons in resetting this integration when the commanded position changes, particularly during steady-state walking. Despite the simplicity of the model, we show that slow muscle fibers increase the accuracy of limb positioning, even for motions much shorter than the relaxation time of the fiber; this increase in accuracy is due to the slow dynamics of the fibers; the CI motor neuron plays a critical role in accelerating muscle relaxation when the limb moves to a new position; as in the animal, this architecture enables the control of the stance phase speed, independent of swing phase amplitude or duration, by changing the gain of sensory feedback to the stance phase muscles. We discuss how this relates to other models, and how it could be applied to robotic control.
Collapse
Affiliation(s)
- Mantas Naris
- Bio-Inspired Perception and Robotics Laboratory, University of Colorado Boulder, UCB 427 1111 Engineering Drive, Boulder, CO, 80309, USA.
| | - Nicholas S Szczecinski
- Biologically Inspired Robotics Laboratory, Case Western Reserve University, Glennan 418 10900 Euclid Avenue, Cleveland, OH, 44106, USA
| | - Roger D Quinn
- Biologically Inspired Robotics Laboratory, Case Western Reserve University, Glennan 418 10900 Euclid Avenue, Cleveland, OH, 44106, USA
| |
Collapse
|
24
|
Swing Velocity Profiles of Small Limbs Can Arise from Transient Passive Torques of the Antagonist Muscle Alone. Curr Biol 2018; 29:1-12.e7. [PMID: 30581019 DOI: 10.1016/j.cub.2018.11.016] [Citation(s) in RCA: 23] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/29/2018] [Revised: 09/18/2018] [Accepted: 11/05/2018] [Indexed: 01/31/2023]
Abstract
In large limbs, changing motor neuron activity typically controls within-movement velocity. For example, sequential agonist-antagonist-agonist motor neuron firing typically underlies the slowing often present at the end of human reaches. In physiological movements of large limbs, antagonistic muscle passive torque is generally negligible. In small limbs, alternatively, passive torques can determine limb rest position, generate restoring movements to it, and decrease agonist-generated movement amplitude and velocity maxima. These observations suggest that, in small limbs, passive forces might also control velocity changes within movements. We investigated this issue in stick insect middle leg femur-tibia (FT) joint. During swing, the FT joint extensor muscle actively shortens and the flexor muscle passively lengthens. As in human reaching, after its initial acceleration, FT joint velocity continuously decreases. We measured flexor passive forces during imposed stretches spanning the ranges of FT joint angles, angular velocities, and movement amplitudes present in leg swings. The viscoelastic "transient" passive force that occurs during and soon after stretch depended on all three variables and could be tens of times larger than the "steady-state" passive force commonly measured long after stretch end. We combined these data, the flexor and extensor moment arms, and an existing extensor model to simulate FT joint swing. To measure only passive (flexor) muscle-dependent effects, we used constant extensor activations in these simulations. In simulations using data from ten flexor muscles, flexor passive torque could always produce swings with, after swing initiation, continuously decreasing velocities. Antagonist muscle passive torques alone can thus control within-movement velocity.
Collapse
|
25
|
Szczecinski NS, Bockemühl T, Chockley AS, Büschges A. Static stability predicts the continuum of interleg coordination patterns in Drosophila. ACTA ACUST UNITED AC 2018; 221:jeb.189142. [PMID: 30274987 DOI: 10.1242/jeb.189142] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/22/2018] [Accepted: 09/26/2018] [Indexed: 01/22/2023]
Abstract
During walking, insects must coordinate the movements of their six legs for efficient locomotion. This interleg coordination is speed dependent: fast walking in insects is associated with tripod coordination patterns, whereas slow walking is associated with more variable, tetrapod-like patterns. To date, however, there has been no comprehensive explanation as to why these speed-dependent shifts in interleg coordination should occur in insects. Tripod coordination would be sufficient at low walking speeds. The fact that insects use a different interleg coordination pattern at lower speeds suggests that it is more optimal or advantageous at these speeds. Furthermore, previous studies focused on discrete tripod and tetrapod coordination patterns. Experimental data, however, suggest that changes observed in interleg coordination are part of a speed-dependent spectrum. Here, we explore these issues in relation to static stability as an important aspect for interleg coordination in Drosophila We created a model that uses basic experimentally measured parameters in fruit flies to find the interleg phase relationships that maximize stability for a given walking speed. The model predicted a continuum of interleg coordination patterns spanning the complete range of walking speeds as well as an anteriorly directed swing phase progression. Furthermore, for low walking speeds, the model predicted tetrapod-like patterns to be most stable, whereas at high walking speeds, tripod coordination emerged as most optimal. Finally, we validated the basic assumption of a continuum of interleg coordination patterns in a large set of experimental data from walking fruit flies and compared these data with the model-based predictions.
Collapse
Affiliation(s)
- Nicholas S Szczecinski
- Department of Animal Physiology, Zoological Institute, University of Cologne, 50674 Cologne, Germany
| | - Till Bockemühl
- Department of Animal Physiology, Zoological Institute, University of Cologne, 50674 Cologne, Germany
| | - Alexander S Chockley
- Department of Animal Physiology, Zoological Institute, University of Cologne, 50674 Cologne, Germany
| | - Ansgar Büschges
- Department of Animal Physiology, Zoological Institute, University of Cologne, 50674 Cologne, Germany
| |
Collapse
|
26
|
More HL, Donelan JM. Scaling of sensorimotor delays in terrestrial mammals. Proc Biol Sci 2018; 285:20180613. [PMID: 30158304 PMCID: PMC6125920 DOI: 10.1098/rspb.2018.0613] [Citation(s) in RCA: 36] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/19/2018] [Accepted: 07/31/2018] [Indexed: 12/21/2022] Open
Abstract
Whether an animal is trying to escape from a predator, avoid a fall or perform a more mundane task, the effectiveness of its sensory feedback is constrained by sensorimotor delays. Here, we combine electrophysiological experiments, systematic reviews of the literature and biophysical models to determine how delays associated with the fastest locomotor reflex scale with size in terrestrial mammals. Nerve conduction delay is one contributor, and increases strongly with animal size. Sensing, synaptic and neuromuscular junction delays also contribute, and we approximate each as a constant value independent of animal size. Muscle's electromechanical and force generation delays increase more moderately with animal size than nerve conduction delay, but their total contribution exceeds that of the four neural delays. The sum of these six component delays, termed total delay, increases with animal size in proportion to M0.21-large mammals experience total delays 17 times longer than small mammals. The slower movement times of large animals mostly offset their long delays resulting in a more modest, but perhaps still significant, doubling of their total delay relative to movement duration when compared with their smaller counterparts. Irrespective of size, sensorimotor delay is likely a challenge for all mammals, particularly during fast running.
Collapse
Affiliation(s)
- Heather L More
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada V5A 1S6
| | - J Maxwell Donelan
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, 8888 University Drive, Burnaby, British Columbia, Canada V5A 1S6
| |
Collapse
|
27
|
ORSBON COURTNEYP, GIDMARK NICHOLASJ, ROSS CALLUMF. Dynamic Musculoskeletal Functional Morphology: Integrating diceCT and XROMM. Anat Rec (Hoboken) 2018; 301:378-406. [PMID: 29330951 PMCID: PMC5786282 DOI: 10.1002/ar.23714] [Citation(s) in RCA: 30] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/15/2017] [Revised: 09/05/2017] [Accepted: 09/11/2017] [Indexed: 12/31/2022]
Abstract
The tradeoff between force and velocity in skeletal muscle is a fundamental constraint on vertebrate musculoskeletal design (form:function relationships). Understanding how and why different lineages address this biomechanical problem is an important goal of vertebrate musculoskeletal functional morphology. Our ability to answer questions about the different solutions to this tradeoff has been significantly improved by recent advances in techniques for quantifying musculoskeletal morphology and movement. Herein, we have three objectives: (1) review the morphological and physiological parameters that affect muscle function and how these parameters interact; (2) discuss the necessity of integrating morphological and physiological lines of evidence to understand muscle function and the new, high resolution imaging technologies that do so; and (3) present a method that integrates high spatiotemporal resolution motion capture (XROMM, including its corollary fluoromicrometry), high resolution soft tissue imaging (diceCT), and electromyography to study musculoskeletal dynamics in vivo. The method is demonstrated using a case study of in vivo primate hyolingual biomechanics during chewing and swallowing. A sensitivity analysis demonstrates that small deviations in reconstructed hyoid muscle attachment site location introduce an average error of 13.2% to in vivo muscle kinematics. The observed hyoid and muscle kinematics suggest that hyoid elevation is produced by multiple muscles and that fascicle rotation and tendon strain decouple fascicle strain from hyoid movement and whole muscle length. Lastly, we highlight current limitations of these techniques, some of which will likely soon be overcome through methodological improvements, and some of which are inherent. Anat Rec, 301:378-406, 2018. © 2018 Wiley Periodicals, Inc.
Collapse
Affiliation(s)
- COURTNEY P. ORSBON
- Department of Organismal Biology and Anatomy, The University of Chicago, Chicago, Illinois 60637
| | | | - CALLUM F. ROSS
- Department of Organismal Biology and Anatomy, The University of Chicago, Chicago, Illinois 60637
| |
Collapse
|
28
|
Jayaram K, Mongeau JM, Mohapatra A, Birkmeyer P, Fearing RS, Full RJ. Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots. J R Soc Interface 2018; 15:20170664. [PMID: 29445036 PMCID: PMC5832722 DOI: 10.1098/rsif.2017.0664] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/10/2017] [Accepted: 01/24/2018] [Indexed: 11/12/2022] Open
Abstract
Exceptional performance is often considered to be elegant and free of 'errors' or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the 'Haldane limit'. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation.
Collapse
Affiliation(s)
- Kaushik Jayaram
- Department of Integrative Biology, University of California, Berkeley, CA 94720, USA
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | - Jean-Michel Mongeau
- Biophysics Graduate Group, University of California, Berkeley, CA 94720, USA
- Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802, USA
| | - Anand Mohapatra
- Department of Integrative Biology, University of California, Berkeley, CA 94720, USA
| | - Paul Birkmeyer
- Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA 94720, USA
| | - Ronald S Fearing
- Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA 94720, USA
| | - Robert J Full
- Department of Integrative Biology, University of California, Berkeley, CA 94720, USA
- Department of Electrical Engineering and Computer Science, University of California, Berkeley, CA 94720, USA
| |
Collapse
|
29
|
Scaling of rotational inertia of primate mandibles. J Hum Evol 2017; 106:119-132. [DOI: 10.1016/j.jhevol.2017.02.007] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2016] [Revised: 02/15/2017] [Accepted: 02/23/2017] [Indexed: 11/23/2022]
|
30
|
Sutton GP, Doroshenko M, Cullen DA, Burrows M. Take-off speed in jumping mantises depends on body size and a power-limited mechanism. ACTA ACUST UNITED AC 2016; 219:2127-36. [PMID: 27284067 PMCID: PMC4958293 DOI: 10.1242/jeb.133728] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/22/2015] [Accepted: 05/03/2016] [Indexed: 11/20/2022]
Abstract
Many insects such as fleas, froghoppers and grasshoppers use a catapult mechanism to jump, and a direct consequence of this is that their take-off velocities are independent of their mass. In contrast, insects such as mantises, caddis flies and bush crickets propel their jumps by direct muscle contractions. What constrains the jumping performance of insects that use this second mechanism? To answer this question, the jumping performance of the mantis Stagmomantis theophila was measured through all its developmental stages, from 5 mg first instar nymphs to 1200 mg adults. Older and heavier mantises have longer hind and middle legs and higher take-off velocities than younger and lighter mantises. The length of the propulsive hind and middle legs scaled approximately isometrically with body mass (exponent=0.29 and 0.32, respectively). The front legs, which do not contribute to propulsion, scaled with an exponent of 0.37. Take-off velocity increased with increasing body mass (exponent=0.12). Time to accelerate increased and maximum acceleration decreased, but the measured power that a given mass of jumping muscle produced remained constant throughout all stages. Mathematical models were used to distinguish between three possible limitations to the scaling relationships: first, an energy-limited model (which explains catapult jumpers); second, a power-limited model; and third, an acceleration -: limited model. Only the model limited by muscle power explained the experimental data. Therefore, the two biomechanical mechanisms impose different limitations on jumping: those involving direct muscle contractions (mantises) are constrained by muscle power, whereas those involving catapult mechanisms are constrained by muscle energy.
Collapse
Affiliation(s)
- G P Sutton
- School of Biological Sciences, University of Bristol, Bristol BS8 1UG, UK
| | - M Doroshenko
- Department of Zoology, University of Cambridge, Cambridge CB2 3EJ, UK
| | - D A Cullen
- Department of Zoology, University of Cambridge, Cambridge CB2 3EJ, UK Zoological Institute, KU Leuven, Leuven BE 3000, Belgium
| | - M Burrows
- Department of Zoology, University of Cambridge, Cambridge CB2 3EJ, UK
| |
Collapse
|
31
|
Rodríguez RL, Araya-Salas M, Gray DA, Reichert MS, Symes LB, Wilkins MR, Safran RJ, Höbel G. How acoustic signals scale with individual body size: common trends across diverse taxa. Behav Ecol 2014. [DOI: 10.1093/beheco/aru174] [Citation(s) in RCA: 48] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
|
32
|
Abstract
By examining key locomotor parameters during terrestrial locomotion on a substrate without irregularities, we show that rats frequently accelerate and decelerate between two consecutive steps while maintaining an overall steady speed and that the touchdown order of contralateral limbs significantly influences those speed adjustments. The latter highly correlates with significant adjustments in relative forelimb protraction at touchdown and hindlimb extension at lift-off. We conclude that this remarkable level of variability in limb coordination would clearly be advantageous for the functional flexibility needed during terrestrial locomotion on much more irregular (rough) natural terrain. In addition, its occurrence on a substrate lacking irregularities suggests that much of stable, terrestrial steady-speed locomotion in rats is mechanically controlled.
Collapse
Affiliation(s)
- André Schmidt
- Department of Biomedical Sciences, Heritage College of Osteopathic Medicine, Ohio University, Athens, OH 45701, USA
| | | |
Collapse
|
33
|
Gaveau J, Berret B, Demougeot L, Fadiga L, Pozzo T, Papaxanthis C. Energy-related optimal control accounts for gravitational load: comparing shoulder, elbow, and wrist rotations. J Neurophysiol 2013; 111:4-16. [PMID: 24133223 DOI: 10.1152/jn.01029.2012] [Citation(s) in RCA: 44] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/22/2022] Open
Abstract
We permanently deal with gravity force. Experimental evidences revealed that moving against gravity strongly differs from moving along the gravity vector. This directional asymmetry has been attributed to an optimal planning process that optimizes gravity force effects to minimize energy. Yet, only few studies have considered the case of vertical movements in the context of optimal control. What kind of cost is better suited to explain kinematic patterns in the vertical plane? Here, we aimed to understand further how the central nervous system (CNS) plans and controls vertical arm movements. Our reasoning was the following: if the CNS optimizes gravity mechanical effects on the moving limbs, kinematic patterns should change according to the direction and the magnitude of the gravity torque being encountered in the motion. Ten subjects carried out single-joint movements, i.e., rotation around the shoulder (whole arm), elbow (forearm), and wrist (hand) joints, in the vertical plane. Joint kinematics were analyzed and compared with various theoretical optimal model predictions (minimum absolute work-jerk, jerk, torque change, and variance). We found both direction-dependent and joint-dependent variations in several kinematic parameters. Notably, directional asymmetries decreased according to a proximodistal gradient. Numerical simulations revealed that our experimental findings could be attributed to an optimal motor planning (minimum absolute work-jerk) that integrates the direction and the magnitude of gravity torque and minimizes the absolute work of forces (energy-related cost) around each joint. Present results support the general idea that the CNS implements optimal solutions according to the dynamic context of the action.
Collapse
|
34
|
|