Mosquitoes escape looming threats by actively flying with the bow wave induced by the attacker

To detect and escape looming threats, night-flying insects must rely on other senses than vision alone. Nocturnal mosquitoes can evade looming objects in the dark, but how they achieve this is still unknown. Here, we show how night-active female malaria mosquitoes escape from rapidly looming objects that simulate defensive actions of blood-hosts. First, we quantified the escape performance of flying mosquitoes from an event-triggered mechanical swatter, showing that mosquitoes use swatter-induced airflow to increase their escape success. Secondly, we used high-speed videography and deep-learning-based tracking to analyze escape flights in detail, showing that mosquitoes use banked turns to evade the threat. By combining escape kinematics data with numerical simulations of attacker-induced airflow and a mechanistic movement model, we unraveled how mosquitoes control these banked evasive maneuvers: they actively steer away from the danger, and then passively travel with the bow wave produced by the attacker. Our results demonstrate that night-flying mosquitoes can detect looming objects when visual cues are minimal, suggesting that they use attacker-induced airflow both to detect the danger and as a fluid medium to move with away from the threat. This shows that escape strategies of flying insects are more complex than previous visually induced escape flight studies suggest. As most insects are of similar or smaller sizes than mosquitoes, comparable escape strategies are expected among millions of flying insect species. The here-observed escape maneuvers are distinct from those of mosquitoes escaping from odor-baited traps, thus providing new insights for the development of novel trapping techniques for integrative vector management.

Mechanical modeling of mechanosensitive insect strain sensors as a tool to investigate exoskeletal interfaces

During walking, sensory information is measured and monitored by sensory organs that can be found on and within various limb segments. Strain can be monitored by insect load sensors, campaniform sensilla (CS), which have components embedded within the exoskeleton. CS vary in eccentricity, size, and orientation, which can affect their sensitivity to specific strains. Directly investigating the mechanical interfaces that these sensors utilize to encode changes in load bears various obstacles, such as modeling of viscoelastic properties. To circumvent the difficulties of modeling and performing biological experiments in small insects, we developed 3-dimensional printed resin models based on high-resolution imaging of CS. Through the utilization of strain gauges and a motorized tensile tester, physiologically plausible strain can be mimicked while investigating the compression and tension forces that CS experience; here, this was performed for a field of femoral CS inDrosophila melanogaster. Different loading scenarios differentially affected CS compression and the likely neuronal activity of these sensors and elucidate population coding of stresses acting on the cuticle.

Mechanosensory Control of Locomotion in Animals and Robots: Moving Forward

While animals swim, crawl, walk, and fly with apparent ease, building robots capable of robust locomotion remains a significant challenge. In this review, we draw attention to mechanosensation-the sensing of mechanical forces generated within and outside the body-as a key sense that enables robust locomotion in animals. We discuss differences between mechanosensation in animals and current robots with respect to (1) the encoding properties and distribution of mechanosensors and (2) the integration and regulation of mechanosensory feedback. We argue that robotics would benefit greatly from a detailed understanding of these aspects in animals. To that end, we highlight promising experimental and engineering approaches to study mechanosensation, emphasizing the mutual benefits for biologists and engineers that emerge from moving forward together.

Biomechanics illuminates form-function relationships in bird bills

The field of comparative biomechanics examines how form, mechanical properties and environmental interactions shape the function of biological structures. Biomechanics has advanced by leaps and bounds as rapid technological progress opens up new research horizons. In this Review, I describe how our understanding of the avian bill, a morphologically diverse multifunctional appendage, has been transformed by employing a biomechanical perspective. Across functions from feeding to excavating hollows in trees and as a vocal apparatus, the study of the bill spans both solid and fluid biomechanics, rendering it useful to understand general principles across disciplines. The different shapes of the bill across bird species result in functional and mechanical trade-offs, thus representing a microcosm of many broader form-function questions. Using examples from diverse studies, I discuss how research into bird bills has been shaped over recent decades, and its influence on our understanding of avian ecology and evolution. Next, I examine how bill material properties and geometry influence performance in dietary and non-dietary contexts, simultaneously imposing trade-offs on other functions. Following an examination of the interactions of bills with fluids and their role as part of the vocal apparatus, I end with a discussion of the sensory biomechanics of the bill, focusing specifically on the bill-tip mechanosensory organ. With these case studies, I highlight how this burgeoning and consequential field represents a roadmap for our understanding of the function and evolution of biological structures.

Imaging and spectral analysis of autofluorescence patterns in larval head structures of mosquito vectors

Autofluorescence (AF) in mosquitoes is currently poorly explored, despite its great potential as a marker of body structures and biological functions. Here, for the first time AF in larval heads of two mosquitoes of key public health importance, Aedes albopictus and Culex pipiens, is studied using fluorescence imaging and spectrofluorometry, similarly to a label-free histochemical approach. In generally conserved distribution patterns, AF shows differences between mouth brushes and antennae of the two species. The blue AF ascribable to resilin at the antennal bases, more extended in Cx. pipiens, suggests a potential need to support different antennal movements. The AF spectra larger in Cx. pipiens indicate a variability in material composition and properties likely relatable to mosquito biology, including diverse feeding and locomotion behaviours with implications for vector control.

Insect antennae: Coupling blood pressure with cuticle deformation to control movement

Insect antennae are hollow, blood-filled fibers with complex shape. Muscles in the two basal segments control antennal movement, but the rest (flagellum) is muscle-free. The insect can controllably flex, twist, and maneuver its antennae laterally. To explain this behavior, we performed a comparative study of structural and tensile properties of the antennae of Periplaneta americana (American cockroach), Manduca sexta (Carolina hawkmoth), and Vanessa cardui (painted lady butterfly). These antennae demonstrate a range of distinguishable tensile properties, responding either as brittle or strain-adaptive fibers that stiffen when stretched. Scanning electron microscopy and high-speed imaging of antennal breakup during stretching revealed complex coupling of blood pressure and cuticle deformation in antennae. A generalized Lamé theory of solid mechanics was developed to include the force-driven deformation of blood-filled antennal tubes. We validated the theory against experiments with artificial antennae with no adjustable parameters. Blood pressure increased when the insect inflated its antennae or decreased below ambient pressure when an external tensile load was applied to the antenna. The pressure-cuticle coupling can be controlled through changes of the blood volume in the antennal lumen. In insects that do not fill the antennal lumen with blood, this blood pressure control is lacking, and the antennae react only by muscular activation. We suggest that the principles we have discovered for insect antennae apply to other appendages that share a leg-derived ancestry. Our work offers promising new applications for multifunctional fiber-based microfluidics that could transport fluids and be manipulated by the same fluid on demand. STATEMENT OF SIGNIFICANCE: Insect antennae are blood-filled, segmented fibers with muscles in the two basal segments. The long terminal segment is muscle-free but can be flexed. To explain this behavior, we examined structure-function relationships of antennae of cockroaches, hawkmoths, and butterflies. Hawkmoth antennae behaved as brittle fibers, but butterfly and cockroach antennae showed strain-adaptive behavior like fibers that stiffen when stretched. Videomicroscopy of antennal breakup during stretching revealed complex coupling of blood pressure and cuticle deformation. Our solid mechanics model explains this behavior. Because antennae are leg-derived appendages, we suggest that the principles we found apply to other appendages of leg-derived ancestry. Our work offers new applications for multifunctional fiber-based microfluidics that could transport fluids and be manipulated by the fluid on demand.

Ultra high-resolution biomechanics suggest that substructures within insect mechanosensors decisively affect their sensitivity

Insect load sensors, called campaniform sensilla (CS), measure strain changes within the cuticle of appendages. This mechanotransduction provides the neuromuscular system with feedback for posture and locomotion. Owing to their diverse morphology and arrangement, CS can encode different strain directions. We used nano-computed tomography and finite-element analysis to investigate how different CS morphologies within one location—the femoral CS field of the leg in the fruit fly Drosophila—interact under load. By investigating the influence of CS substructures' material properties during simulated limb displacement with naturalistic forces, we could show that CS substructures (i.e. socket and collar) influence strain distribution throughout the whole CS field. Altered socket and collar elastic moduli resulted in 5% relative differences in displacement, and the artificial removal of all sockets caused differences greater than 20% in cap displacement. Apparently, CS sockets support the distribution of distal strain to more proximal CS, while collars alter CS displacement more locally. Harder sockets can increase or decrease CS displacement depending on sensor location. Furthermore, high-resolution imaging revealed that sockets are interconnected in subcuticular rows. In summary, the sensitivity of individual CS is dependent on the configuration of other CS and their substructures.

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.

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.

Resilin Distribution and Sexual Dimorphism in the Midge Antenna and Their Influence on Frequency Sensitivity

Small-scale bioacoustic sensors, such as antennae in insects, are often considered, biomechanically, to be not much more than the sum of their basic geometric features. Therefore, little is known about the fine structure and material properties of these sensors-even less so about the degree to which the well-known sexual dimorphism of the insect antenna structure affects those properties. By using confocal laser scanning microscopy (CLSM), we determined material composition patterns and estimated distribution of stiffer and softer materials in the antennae of males and females of the non-biting midge Chironomus riparius. Using finite element modelling (FEM), we also have evidence that the differences in composition of these antennae can influence their mechanical responses. This study points to the possibility that modulating the elastic and viscoelastic properties along the length of the antennae can affect resonant characteristics beyond those expected of simple mass-on-a-spring systems-in this case, a simple banded structure can change the antennal frequency sensitivity. This constitutes a simple principle that, now demonstrated in another Dipteran group, could be widespread in insects to improve various passive and active sensory performances.

Material stiffness variation in mosquito antennae

The antennae of mosquitoes are model systems for acoustic sensation, in that they obey general principles for sound detection, using both active feedback mechanisms and passive structural adaptations. However, the biomechanical aspect of the antennal structure is much less understood than the mechano-electrical transduction. Using confocal laser scanning microscopy, we measured the fluorescent properties of the antennae of two species of mosquito- Toxorhynchites brevipalpis and Anopheles arabiensis-and, noting that fluorescence is correlated with material stiffness, we found that the structure of the antenna is not a simple beam of homogeneous material, but is in fact a rather more complex structure with spatially distributed discrete changes in material properties. These present as bands or rings of different material in each subunit of the antenna, which repeat along its length. While these structures may simply be required for structural robustness of the antennae, we found that in FEM simulation, these banded structures can strongly affect the resonant frequencies of cantilever-beam systems, and therefore taken together our results suggest that modulating the material properties along the length of the antenna could constitute an additional mechanism for resonant tuning in these species.

Canal neuromasts enhance foraging in zebrafish (Danio rerio)

Aquatic animals commonly sense flow using superficial neuromasts (SNs), which are receptors that extend from the body's surface. The lateral line of fishes is unique among these systems because it additionally possesses receptors, the canal neuromasts (CNs), that are recessed within a channel. The lateral line has inspired the development of engineered sensors and concepts in the analysis of flow fields for submersible navigation. The biophysics of CNs are known to be different from the SNs and thereby offer a distinct submodality. However, it is generally unclear whether CNs play a distinct role in behavior. We therefore tested whether CNs enhance foraging in the dark by zebrafish (Danio rerio), a behavior that we elicited with a vibrating rod. We found that juvenile fish, which have only SNs, bite at this rod at about one-third the rate and from as little as one-third the distance of adults for a high-frequency stimulus (50  <  f   <  100 Hz). We used novel techniques for manipulating the lateral line in adults to find that CNs offered only a modest benefit at a lower frequency (20 Hz) and that foraging was mediated entirely by cranial neuromasts. Consistent with our behavioral results, biophysical models predicted CNs to be more than an order of magnitude more sensitive than SNs at high frequencies. This enhancement helps to overcome the rapid spatial decay in high-frequency components in the flow around the stimulus. These findings contrast what has been previously established for fishes that are at least ten-times the length of zebrafish, which use trunk CNs to localize prey. Therefore, CNs generally enhance foraging, but in a manner that varies with the size of the fish and its prey. These results have the potential to improve our understanding of flow sensing in aquatic animals and engineered systems.

A New Self-Powered Sensor Using the Radial Field Piezoelectric Diaphragm in d33 Mode for Detecting Underwater Disturbances

This paper presents a new sensor based on a radial field bulk piezoelectric diaphragm to provide energy-efficient and high-performance situational sensing for autonomous underwater vehicles (AUVs). This sensor is self-powered, does not need an external power supply, and works efficiently in d₃₃ mode by using inter-circulating electrodes to release the radial in-plane poling. Finite element analysis was conducted to estimate the sensor behavior. Sensor prototypes were fabricated by microfabrication technology. The dynamic behaviors of the piezoelectric diaphragm were examined by the impedance spectrum. By imitating the underwater disturbance and generating the oscillatory flow velocities with a vibrating sphere, the performance of the sensor in detecting the oscillatory flow was tested. Experimental results show that the sensitivity of the sensor is up to 1.16 mV/(mm/s), and the detectable oscillatory flow velocity is as low as 4 mm/s. Further, this sensor can work well under a disturbance with low frequency. The present work provides a good application prospect for the underwater sensing of AUVs.

Insect and insect-inspired aerodynamics: unsteadiness, structural mechanics and flight control

Flying insects impress by their versatility and have been a recurrent source of inspiration for engineering devices. A large body of literature has focused on various aspects of insect flight, with an essential part dedicated to the dynamics of flapping wings and their intrinsically unsteady aerodynamic mechanisms. Insect wings flex during flight and a better understanding of structural mechanics and aeroelasticity is emerging. Most recently, insights from solid and fluid mechanics have been integrated with physiological measurements from visual and mechanosensors in the context of flight control in steady airs and through turbulent conditions. We review the key recent advances concerning flight in unsteady environments and how the multi-body mechanics of the insect structure-wings and body-are at the core of the flight control question. The issues herein should be considered when applying bio-informed design principles to robotic flapping wings.

Biomechanics in Soft Mechanical Sensing: From Natural Case Studies to the Artificial World

Living beings use mechanical interaction with the environment to gather essential cues for implementing necessary movements and actions. This process is mediated by biomechanics, primarily of the sensory structures, meaning that, at first, mechanical stimuli are morphologically computed. In the present paper, we select and review cases of specialized sensory organs for mechanical sensing-from both the animal and plant kingdoms-that distribute their intelligence in both structure and materials. A focus is set on biomechanical aspects, such as morphology and material characteristics of the selected sensory organs, and on how their sensing function is affected by them in natural environments. In this route, examples of artificial sensors that implement these principles are provided, and/or ways in which they can be translated artificially are suggested. Following a biomimetic approach, our aim is to make a step towards creating a toolbox with general tailoring principles, based on mechanical aspects tuned repeatedly in nature, such as orientation, shape, distribution, materials, and micromechanics. These should be used for a future methodical design of novel soft sensing systems for soft robotics.

Orientation in high-flying migrant insects in relation to flows: mechanisms and strategies

High-flying insect migrants have been shown to display sophisticated flight orientations that can, for example, maximize distance travelled by exploiting tailwinds, and reduce drift from seasonally optimal directions. Here, we provide a comprehensive overview of the theoretical and empirical evidence for the mechanisms underlying the selection and maintenance of the observed flight headings, and the detection of wind direction and speed, for insects flying hundreds of metres above the ground. Different mechanisms may be used—visual perception of the apparent ground movement or mechanosensory cues maintained by intrinsic features of the wind—depending on circumstances (e.g. day or night migrations). In addition to putative turbulence-induced velocity, acceleration and temperature cues, we present a new mathematical analysis which shows that ‘jerks’ (the time-derivative of accelerations) can provide indicators of wind direction at altitude. The adaptive benefits of the different orientation strategies are briefly discussed, and we place these new findings for insects within a wider context by comparisons with the latest research on other flying and swimming organisms.

This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.

Haltere morphology and campaniform sensilla arrangement across Diptera

One of the primary specializations of true flies (order Diptera) is the modification of the hind wings into club-shaped halteres. Halteres are complex mechanosensory structures that provide sensory feedback essential for stable flight control via an array of campaniform sensilla at the haltere base. The morphology of these sensilla has previously been described in a small number of dipteran species, but little is known about how they vary across fly taxa. Using a synoptic set of specimens representing 42 families from all of the major infraorders of Diptera, we used scanning electron microscopy to map the gross and fine structures of halteres, including sensillum shape and arrangement. We found that several features of haltere morphology correspond with dipteran phylogeny: Schizophora generally have smaller halteres with stereotyped and highly organized sensilla compared to nematoceran flies. We also found a previously undocumented high variation of haltere sensillum shape in nematoceran dipterans, as well as the absence of a dorsal sensillum field in multiple families. Overall, variation in haltere sensillar morphology across the dipteran phylogeny provides insight into the evolution of a highly specialized proprioceptive organ and a basis for future studies on haltere sensory function.

Gyroscopic sensing in the wings of the hawkmoth Manduca sexta: the role of sensor location and directional sensitivity

The wings of the hawkmoth Manduca sexta are lined with mechanoreceptors called campaniform sensilla that encode wing deformations. During flight, the wings deform in response to a variety of stimuli, including inertial-elastic loads due to the wing flapping motion, aerodynamic loads, and exogenous inertial loads transmitted by disturbances. Because the wings are actuated, flexible structures, the strain-sensitive campaniform sensilla are capable of detecting inertial rotations and accelerations, allowing the wings to serve not only as a primary actuator, but also as a gyroscopic sensor for flight control. We study the gyroscopic sensing of the hawkmoth wings from a control theoretic perspective. Through the development of a low-order model of flexible wing flapping dynamics, and the use of nonlinear observability analysis, we show that the rotational acceleration inherent in wing flapping enables the wings to serve as gyroscopic sensors. We compute a measure of sensor fitness as a function of sensor location and directional sensitivity by using the simulation-based empirical observability Gramian. Our results indicate that gyroscopic information is encoded primarily through shear strain due to wing twisting, where inertial rotations cause detectable changes in pronation and supination timing and magnitude. We solve an observability-based optimal sensor placement problem to find the optimal configuration of strain sensor locations and directional sensitivities for detecting inertial rotations. The optimal sensor configuration shows parallels to the campaniform sensilla found on hawkmoth wings, with clusters of sensors near the wing root and wing tip. The optimal spatial distribution of strain directional sensitivity provides a hypothesis for how heterogeneity of campaniform sensilla may be distributed.

Sensory processing within antenna enables rapid implementation of feedback control for high-speed running maneuvers

Animals are remarkably stable during high-speed maneuvers. As the speed of locomotion increases, neural bandwidth and processing delays can limit the ability to achieve and maintain stable control. Processing the information of sensory stimuli into a control signal within the sensor itself could enable rapid implementation of whole-body feedback control during high-speed locomotion. Here, we show that processing in antennal afferents is sufficient to act as control signal for a fast sensorimotor loop. American cockroaches Periplaneta americana use their antennae to mediate escape running by tracking vertical surfaces such as walls. A control theoretic model of wall following predicts that stable control is possible if the animal can compute wall position (P) and velocity, its derivative, (D). Previous whole-nerve recordings from the antenna during simulated turning experiments demonstrated a population response consistent with P and D encoding, and suggested that the response was synchronized with the timing of a turn executed while wall following. Here, we record extracellularly from individual mechanoreceptors distributed along the antenna and show that these receptors encode D and have distinct latencies and filtering properties. When summed, receptors transform the stimulus into a control signal that could control rapid steering maneuvers. The D encoding within the antenna in addition to the temporal filtering properties and P dependence of the population of afferents support a sensory encoding hypothesis from control theory. Our findings support the hypothesis that peripheral sensory processing can enable rapid implementation of whole-body feedback control during rapid running maneuvers.

A spider's biological vibration filter: micromechanical characteristics of a biomaterial surface

A strain-sensing lyriform organ (HS-10) found on all of the legs of a Central American wandering spider (Cupiennius salei) detects courtship, prey and predator vibrations transmitted by the plant on which it sits. It has been suggested that the viscoelastic properties of a cuticular pad directly adjacent to the sensory organ contribute to the organ's pronounced high-pass characteristics. Here, we investigate the micromechanical properties of the cuticular pad biomaterial in search of a deeper understanding of its impact on the function of the vibration sensor. These properties are considered to be an effective adaptation for the selective detection of signals for frequencies >40 Hz. Using surface force spectroscopy mapping we determine the elastic modulus of the pad surface over a temperature range of 15-40 °C at various loading frequencies. In the glassy state, the elastic modulus was ~100 MPa, while in the rubbery state the elastic modulus decreased to 20 MPa. These data are analyzed according to the principle of time-temperature superposition to construct a master curve that relates mechanical properties, temperature and stimulus frequencies. By estimating the loss and storage moduli vs. temperature and frequency it was possible to make a direct comparison with electrophysiology experiments, and it was found that the dissipation of energy occurs within a frequency window whose position is controlled by environmental temperatures.

Are vibrissae viable sensory structures for prey capture in northern elephant seals, Mirounga angustirostris?

Little is known about the tactics northern elephant seals (NES) use to capture prey due to the difficulties in observing these animals underwater. NES forage on vertically migrating prey at depths >500 m during day and at night where light levels are negligible. Although NES have increased visual sensitivity in deep water, vision is likely a limited sensory modality. Still images of NES foraging show that the mystacial vibrissae are protracted before prey capture. As a representative phocid, harbor seals can follow hydrodynamic trails using their vibrissae, and are highly sensitive to water velocity changes. In lieu of performance data, vibrissal innervation can be used as a proxy for sensitivity. Although comparative data are few, seals average 1,000 to 1,600 axons per vibrissa (five to eight times more than terrestrial mammals). To test the hypothesis that NES have increased innervation as other pinnipeds, vibrissae from the ventral-caudal mystacial field from nine individuals were sectioned and stained for microstructure (trichrome) and innervation (Bodian silver stain). Follicles were tripartite and consisted of lower and upper cavernous sinuses separated by a ring sinus containing an asymmetrical ringwulst. The deep vibrissal nerve penetrated the follicular capsule at the base, branched into several bundles, and coursed through the lower cavernous sinus to the ring sinus. Axons in the ring sinus terminated in the ringwulst and along the inner conical body. NES averaged 1,584 axons per vibrissa. The results add to the growing body of evidence that phocids, and perhaps all pinnipeds, possess highly sensitive mystacial vibrissae that detect prey.

Density and distribution of cutaneous sensilla on tails of leopard geckos (Eublepharis macularius) in relation to caudal autotomy

The lizard tail is well known for its ability to autotomize and regenerate. Physical contact of the tail by a predator may induce autotomy at the location at which the tail is grasped, and upon detachment the tail may undergo violent, rapid, and unpredictable movements that appear to be, to some degree, regulated by contact with the physical environment. Neither the mechanism by which tail breakage at a particular location is determined, nor that by which environmental feedback to the tail is received, are known. It has been suggested that mechanoreceptors (sensilla) are the means of mediation of such activities, and reports indicate that the density of sensilla on the tail is high. To determine the feasibility that mechanoreceptors are involved in such phenomena, we mapped scale form and the size, density, distribution, and spacing of sensilla on the head, body, limbs, and tail of the leopard gecko. This species has a full complement of autotomy planes along the length of the tail, and the postautotomic behavior of its tail has been documented. We found that the density of sensilla is highest on the tail relative to all other body regions examined; a dorsoventral gradient of caudal sensilla density is evident on the tail; sensilla are more closely spaced on the dorsal and lateral regions of the tail than elsewhere and are carried on relatively small scales; and that the whorls of scales on the tail bear a one to one relationship with the autotomy planes. Our results are consistent with the hypotheses of sensilla being involved in determining the site at which autotomy will occur, and with them being involved in the mediation of tail behavior following autotomy. These findings open the way for experimental neurological investigations of how autotomy is induced and how the detached tail responds to external environmental input.

Mechanical processing via passive dynamic properties of the cockroach antenna can facilitate control during rapid running

The integration of information from dynamic sensory structures operating on a moving body is a challenge for locomoting animals and engineers seeking to design agile robots. As a tactile sensor is a physical linkage mediating mechanical interactions between body and environment, mechanical tuning of the sensor is critical for effective control. We determined the open-loop dynamics of a tactile sensor, specifically the antenna of the American cockroach, Periplaneta americana, an animal that escapes predators by using its antennae during rapid closed-loop tactilely mediated course control. Geometrical measurements and static bending experiments revealed an exponentially decreasing flexural stiffness (EI) from base to tip. Quasi-static experiments with a physical model support the hypothesis that a proximodistally decreasing EI can simplify control by increasing preview distance and allowing effective mapping to a putative control variable - body-to-wall distance - compared to an antenna with constant EI. We measured the free response at the tip of the antenna following step deflections and determined that the antenna rapidly damps large deflections: over 90% of the perturbation is rejected within the first cycle, corresponding to almost one stride period during high-speed running (~50 ms). An impulse-like perturbation near the tip revealed dynamics that were characteristic of an inelastic collision, keeping the antenna in contact with an object after impact. We contend that proximodistally decreasing stiffness, high damping, and inelasticity simplify control during high-speed tactile tasks by increasing preview distance, providing a one-dimensional map between antennal bending and body-to-wall distance, and increasing the reliability of tactile information.

Locomotion- and mechanics-mediated tactile sensing: antenna reconfiguration simplifies control during high-speed navigation in cockroaches

Animals can expend energy to acquire sensory information by emitting signals and/or moving sensory structures. We propose that the energy from locomotion itself could permit control of a sensor, whereby animals use the energy from movement to reconfigure a passive sensor. We investigated high-speed, antenna-mediated tactile navigation in the cockroach Periplaneta americana. We discovered that the passive antennal flagellum can assume two principal mechanical states, such that the tip is either projecting backward or forward. Using a combination of behavioral and robotic experiments, we demonstrate that a switch in the antenna's state is mediated via the passive interactions between the sensor and its environment, and this switch strongly influences wall-tracking control. When the tip of the antenna is projected backward, the animals maintain greater body-to-wall distance with fewer body collisions and less leg–wall contact than when the tip is projecting forward. We hypothesized that distally pointing mechanosensory hairs at the tip of the antenna mediate the switch in state by interlocking with asperities in the wall surface. To test this hypothesis, we performed laser ablation of chemo-mechanosensory hairs and added artificial hairs to a robotic antenna. In both the natural and artificial systems, the presence of hairs categorically increased an antenna's probability of switching state. Antennal hairs, once thought to only play a role in sensing, are sufficient for mechanically reconfiguring the state of the entire antenna when coupled with forward motion. We show that the synergy between antennal mechanics, locomotion and the environment simplifies tactile sensing.

Spikes alone do not behavior make: why neuroscience needs biomechanics

Neural circuits do not function in isolation; they interact with the physical world, accepting sensory inputs and producing outputs via muscles. Since both these pathways are constrained by physics, the activity of neural circuits can only be understood by considering biomechanics of muscles, bodies, and the exterior world. We discuss how animal bodies have natural stable motions that require relatively little activation or control from the nervous system. The nervous system can substantially alter these motions, by subtly changing mechanical properties such as body or leg stiffness. Mechanics can also provide robustness to perturbations without sensory reflexes. By considering a complete neuromechanical system, neuroscientists and biomechanicians together can provide a more integrated view of neural circuitry and behavior.

Are fish less responsive to a flow stimulus when swimming?

Fish use the lateral line system to sense the water flow created by a predator's strike. Despite its potential importance to the survival of a diversity of species, it is unclear whether this ability becomes compromised when a fish swims. Therefore, the present study compared the behavioral responsiveness of swimming and motionless zebrafish (Danio rerio) larvae when exposed to the flow of a suction-feeding predator. This flow was generated with an impulse chamber, which is a device that we developed to generate a repeatable stimulus with a computer-controlled servo motor. Using high-speed video recordings, we found that about three-quarters (0.76, N=121) of motionless larvae responded to the stimulus with an escape response. These larvae were 66% more likely to respond to flow directed perpendicular than flow running parallel to the body. Swimming larvae exhibited a 0.40 response probability and were therefore nearly half as likely to respond to flow as motionless larvae. However, the latency between stimulus and response was unaffected by swimming or the direction of flow. Therefore, swimming creates changes in the hydrodynamics or neurophysiology of a larval fish that diminish the probability, but not the speed, of their response to a flow stimulus. These findings demonstrate a sensory benefit to the intermittent swimming behavior observed among a broad diversity of fishes.