1
|
Han Q, Chen Y, Shen H, Wang W, Liu X, Wen S, Qi Q, Dai Z, Yu Z, Gorb SN, Ji A. Interleg coordination in free-walking bug Erthesina fullo (Hemiptera: Pentatomidae). INSECT SCIENCE 2024. [PMID: 38980274 DOI: 10.1111/1744-7917.13412] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/21/2024] [Revised: 06/09/2024] [Accepted: 06/11/2024] [Indexed: 07/10/2024]
Abstract
Insects can adapt their walking patterns to complex and varied environments and retain the ability to walk even after significant changes in their physical attributes, such as amputation. Although the interleg coordination of intact insects has been widely described in previous studies, the adaptive walking patterns in free-walking insects with amputation of 1 or more legs are still unclear. The pentatomid bug Erthesina fullo exhibits a tripod gait, when walking freely on horizontal substrates, like many other insects. In this study, amputations were performed on this species to investigate changes in interleg coordination. The walking parameters were analyzed, such as the locations of touchdown and liftoff, cycle period, walking speed, and head displacement of intact and amputated insects. The results show that E. fullo displays adaptive interleg coordination in response to amputations. With 1 amputated leg, bugs changed to a 3-unit gait, whereas with 2 amputated legs they employed a wave gait. These data are helpful in exploring the motion mode control in walking insects and provide the theoretical basis for the gait control strategy of robots, when leg failure occurs.
Collapse
Affiliation(s)
- Qingfei Han
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Laboratory of Intelligent Machines, School of Energy Systems, Lappeenranta-Lahti University of Technology, Lappeenranta, Finland
| | - Yuyu Chen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Huan Shen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Wei Wang
- School of Marine Engineering Equipment, Zhejiang Ocean University, Zhoushan, Zhejiang Province, China
| | - Xuefei Liu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Shikun Wen
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Qian Qi
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Zhendong Dai
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Zhiwei Yu
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Stanislav N Gorb
- Department of Functional Morphology and Biomechanics, Kiel University, Kiel, Germany
| | - Aihong Ji
- Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing, China
- State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| |
Collapse
|
2
|
Yang Y, Yared DG, Fortune ES, Cowan NJ. Sensorimotor adaptation to destabilizing dynamics in weakly electric fish. Curr Biol 2024; 34:2118-2131.e5. [PMID: 38692275 DOI: 10.1016/j.cub.2024.04.019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2023] [Revised: 12/18/2023] [Accepted: 04/09/2024] [Indexed: 05/03/2024]
Abstract
Humans and other animals can readily learn to compensate for changes in the dynamics of movement. Such changes can result from an injury or changes in the weight of carried objects. These changes in dynamics can lead not only to reduced performance but also to dramatic instabilities. We evaluated the impacts of compensatory changes in control policies in relation to stability and robustness in Eigenmannia virescens, a species of weakly electric fish. We discovered that these fish retune their sensorimotor control system in response to experimentally generated destabilizing dynamics. Specifically, we used an augmented reality system to manipulate sensory feedback during an image stabilization task in which a fish maintained its position within a refuge. The augmented reality system measured the fish's movements in real time. These movements were passed through a high-pass filter and multiplied by a gain factor before being fed back to the refuge motion. We adjusted the gain factor to gradually destabilize the fish's sensorimotor loop. The fish retuned their sensorimotor control system to compensate for the experimentally induced destabilizing dynamics. This retuning was partially maintained when the augmented reality feedback was abruptly removed. The compensatory changes in sensorimotor control improved tracking performance as well as control-theoretic measures of robustness, including reduced sensitivity to disturbances and improved phase margins.
Collapse
Affiliation(s)
- Yu Yang
- Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA; Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA.
| | - Dominic G Yared
- Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA
| | - Eric S Fortune
- Federated Department of Biological Sciences, New Jersey Institute of Technology, 323 Dr. Martin Luther King Jr. Boulevard, Newark, NJ 07102, USA
| | - Noah J Cowan
- Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA; Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA.
| |
Collapse
|
3
|
Meshkani J, Rajabi H, Kovalev A, Gorb SN. Locomotory Behavior of Water Striders with Amputated Legs. Biomimetics (Basel) 2023; 8:524. [PMID: 37999165 PMCID: PMC10669063 DOI: 10.3390/biomimetics8070524] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 10/22/2023] [Accepted: 10/26/2023] [Indexed: 11/25/2023] Open
Abstract
The stability of the body during locomotion is a fundamental requirement for walking animals. The mechanisms that coordinate leg movement patterns are even more complex at water-air interfaces. Water striders are agile creatures on the water surface, but they can be vulnerable to leg damage, which can impair their movement. One can assume the presence of certain compensatory biomechanical factors that are involved in the maintenance of postural balance lost after an amputation. Here, we studied changes in load distribution among the legs and assessed the effects of amputation on the locomotory behavior and postural defects that may increase the risk of locomotion failure. Apparently, amputees recover a stable posture by applying leg position modifications (e.g., widening the stance) and by load redistribution to the remaining legs. Water striders showed steering failure after amputation in all cases. Amputations affected locomotion by (1) altering motion features (e.g., shorter swing duration of midlegs), (2) functional constraints on legs, (3) shorter travelled distances, and (4) stronger deviations in the locomotion path. The legs functionally interact with each other, and removal of one leg has detrimental effects on the others. This research may assist the bioinspired design of aquatic robots.
Collapse
Affiliation(s)
- Javad Meshkani
- Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, 24118 Kiel, Germany
| | - Hamed Rajabi
- Division of Mechanical Engineering and Design, School of Engineering, London South Bank University, London SE1 0AA, UK
| | - Alexander Kovalev
- Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, 24118 Kiel, Germany
| | - Stanislav N. Gorb
- Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, 24118 Kiel, Germany
| |
Collapse
|
4
|
Shigaki S, Ando N, Sakurai T, Kurabayashi D. Analysis of Odor-Tracking Performance of Silk Moth Using a Sensory-Motor Intervention System. Integr Comp Biol 2023; 63:343-355. [PMID: 37280186 DOI: 10.1093/icb/icad055] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/27/2023] [Revised: 05/24/2023] [Accepted: 05/24/2023] [Indexed: 06/08/2023] Open
Abstract
Animals can adaptively behave in different environmental conditions by converting environmental information obtained from their sensory organs into actions. This sensory-motor integration enables the accomplishment of various tasks and is essential for animal survival. This sensory-motor integration also plays an important role in localization to females, relying on sex pheromones floating in space. In this study, we focused on the localization behavior of the adult male silk moth, Bombyx mori. We investigated sensory-motor integration against time delay using odor plume tracking performance as an index when we set a certain time delay for the sensory and motor responses. Given that it is difficult to directly intervene in the sensory and motor functions of the silk moth, we constructed an intervention system based on a mobile behavior measurement system controlled by them. Using this intervention system, not only can timing the detection of the odor in the environment and timing the presentation of the odor to the silk moth be manipulated, but timing the reflection of the movement of the silk moth can also be manipulated. We analyzed the extent to which the localization strategy of the silk moth could tolerate sensory delays by setting a delay to the odor presentation. We also evaluated behavioral compensation by odor sensory feedback by setting a delay to the motor. The results of the localization experiment have shown that the localization success rate did not decrease when there was a motor delay. However, when there was a sensory delay, the success rate decreased depending on the time delay. Analysis of the change in behavior after detection of the odor stimulus has shown that the movement was more linear when we set a motor delay. However, the movement was accompanied by a large rotational movement when there was a delay in the sensory input. This result has suggested that behavior is compensated for the delay in motor function by feedback control of odor sensation, but not when accompanied by sensory delay. To compensate for this, the silk moth may acquire appropriate information from the environment by making large body movements.
Collapse
Affiliation(s)
- Shunsuke Shigaki
- Principles of Informatics Research Division, National Institute of Informatics, 2-1-2 Hitotsubashi, Chiyoda 101-8430, Tokyo, Japan
| | - Noriyasu Ando
- Department of Systems Life Engineering, Maebashi Institute of Technology, 460-1 Kamisadori-cho, Maebashi 371-0816, Gunma, Japan
| | - Takeshi Sakurai
- Department of Agricultural Innovation for Sustainable Society, Tokyo University of Agriculture, 1737 Funako, Atsugi 243-0034, Kanagawa, Japan
| | - Daisuke Kurabayashi
- Department of Systems and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro, 152-8552, Tokyo, Japan
| |
Collapse
|
5
|
Wyszkowska J, Kobak J, Aonuma H. Electromagnetic field exposure affects the calling song, phonotaxis, and level of biogenic amines in crickets. ENVIRONMENTAL SCIENCE AND POLLUTION RESEARCH INTERNATIONAL 2023; 30:93255-93268. [PMID: 37507567 PMCID: PMC10447283 DOI: 10.1007/s11356-023-28981-0] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/24/2023] [Accepted: 07/21/2023] [Indexed: 07/30/2023]
Abstract
The electromagnetic field (EMF) is ubiquitous in the environment, constituting a well-known but poorly understood stressor. Few studies have been conducted on insect responses to EMF, although they are an excellent experimental model and are of great ecological importance. In our work, we tested the effects of EMF (50 Hz, 7 mT) on the cricket Gryllus bimaculatus: the male calling song pattern, female mate choice, and levels of biogenic amines in the brain. Exposure of males to EMF increased the number and shortened the period of chips in their calling song (by 2.7% and 5% relative to the control song, respectively), but not the sound frequency. Aged (3-week-old) females were attracted to both natural and EMF-modified male signals, whereas young (1-week-old, virgin) females responded only to the modified signal, suggesting its higher attractance. Stress response of males to EMF may be responsible for the change in the calling song, as suggested by the changes in the amine levels in their brains: an increase in dopamine (by 50% relative to the control value), tyramine (65%), and serotonin (25%) concentration and a decrease in octopamine level (by 25%). These findings indicate that G. bimaculatus responds to EMF, like stressful conditions, which may change the condition and fitness of exposed individuals, disrupt mate selection, and, in consequence, affect the species' existence.
Collapse
Affiliation(s)
- Joanna Wyszkowska
- Research Institute for Electronic Science, Hokkaido University, Sapporo, Hokkaido, 060-0812, Japan.
- Department of Animal Physiology and Neurobiology, Faculty of Biological and Veterinary Sciences, Nicolaus Copernicus University, Lwowska 1, 87-100, Toruń, Poland.
| | - Jarosław Kobak
- Department of Invertebrate Zoology and Parasitology, Faculty of Biological and Veterinary Sciences, Nicolaus Copernicus University, Lwowska 1, 87-100, Toruń, Poland
| | - Hitoshi Aonuma
- Research Institute for Electronic Science, Hokkaido University, Sapporo, Hokkaido, 060-0812, Japan
- Graduate School of Science, Kobe University, 1-1 Rokkodai, Nada-Ku, Kobe, Hyogo, 657-8501, Japan
| |
Collapse
|
6
|
Wang Y, Hayashibe M, Owaki D. Prediction of Whole-Body Velocity and Direction From Local Leg Joint Movements in Insect Walking via LSTM Neural Networks. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191850] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Yuchen Wang
- Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
| | - Mitsuhiro Hayashibe
- Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
| | - Dai Owaki
- Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
| |
Collapse
|
7
|
Owaki D, Dürr V. Motion Hacking – Understanding by Controlling Animals –. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0301] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Insects exhibit resilient and flexible capabilities allowing them to adapt their walk in response to changes of the environment or body properties, for example the loss of a leg. While the motor control paradigm governing inter-leg coordination has been extensively studied in the past for such adaptive walking, the neural mechanism remains unknown. To overcome this situation, the project “Motion Hacking” develops a method for hacking leg movements by electrostimulating leg muscles while retaining the natural sensorimotor functions of the insect. This research aims to elucidate the flexible inter-leg coordination mechanism underlying insect walking by observing the adapting process of inter-leg coordination with the insect nervous system when leg movements are externally controlled via motion hacking.
Collapse
|
8
|
Naniwa K, Aonuma H. Descending and Ascending Signals That Maintain Rhythmic Walking Pattern in Crickets. Front Robot AI 2021; 8:625094. [PMID: 33855051 PMCID: PMC8039156 DOI: 10.3389/frobt.2021.625094] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/02/2020] [Accepted: 03/01/2021] [Indexed: 12/04/2022] Open
Abstract
The cricket is one of the model animals used to investigate the neuronal mechanisms underlying adaptive locomotion. An intact cricket walks mostly with a tripod gait, similar to other insects. The motor control center of the leg movements is located in the thoracic ganglia. In this study, we investigated the walking gait patterns of the crickets whose ventral nerve cords were surgically cut to gain an understanding of how the descending signals from the head ganglia and ascending signals from the abdominal nervous system into the thoracic ganglia mediate the initiation and coordination of the walking gait pattern. Crickets whose paired connectives between the brain and subesophageal ganglion (SEG) (circumesophageal connectives) were cut exhibited a tripod gait pattern. However, when one side of the circumesophageal connectives was cut, the crickets continued to turn in the opposite direction to the connective cut. Crickets whose paired connectives between the SEG and prothoracic ganglion were cut did not walk, whereas the crickets exhibited an ordinal tripod gait pattern when one side of the connectives was intact. Crickets whose paired connectives between the metathoracic ganglion and abdominal ganglia were cut initiated walking, although the gait was not a coordinated tripod pattern, whereas the crickets exhibited a tripod gait when one side of the connectives was intact. These results suggest that the brain plays an inhibitory role in initiating leg movements and that both the descending signals from the head ganglia and the ascending signals from the abdominal nervous system are important in initiating and coordinating insect walking gait patterns.
Collapse
Affiliation(s)
- Keisuke Naniwa
- Research Institute for Electronic Science, Hokkaido University, Sapporo, Japan
| | - Hitoshi Aonuma
- Research Institute for Electronic Science, Hokkaido University, Sapporo, Japan
| |
Collapse
|