A moving topic: control and dynamics of animal locomotion

Multimodal Soft Robotic Actuation and Locomotion

Diverse and adaptable modes of complex motion observed at different scales in living creatures are challenging to reproduce in robotic systems. Achieving dexterous movement in conventional robots can be difficult due to the many limitations of applying rigid materials. Robots based on soft materials are inherently deformable, compliant, adaptable, and adjustable, making soft robotics conducive to creating machines with complicated actuation and motion gaits. This review examines the mechanisms and modalities of actuation deformation in materials that respond to various stimuli. Then, strategies based on composite materials are considered to build toward actuators that combine multiple actuation modes for sophisticated movements. Examples across literature illustrate the development of soft actuators as free-moving, entirely soft-bodied robots with multiple locomotion gaits via careful manipulation of external stimuli. The review further highlights how the application of soft functional materials into robots with rigid components further enhances their locomotive abilities. Finally, taking advantage of the shape-morphing properties of soft materials, reconfigurable soft robots have shown the capacity for adaptive gaits that enable transition across environments with different locomotive modes for optimal efficiency. Overall, soft materials enable varied multimodal motion in actuators and robots, positioning soft robotics to make real-world applications for intricate and challenging tasks.

Spring and latch dynamics can act as control pathways in ultrafast systems

Ultrafast movements propelled by springs and released by latches are thought limited to energetic adjustments prior to movement, and seemingly cannot adjust once movement begins. Even so, across the tree of life, ultrafast organisms navigate dynamic environments and generate a range of movements, suggesting unrecognized capabilities for control. We develop a framework of control pathways leveraging the non-linear dynamics of spring-propelled, latch-released systems. We analytically model spring dynamics and develop reduced-parameter models of latch dynamics to quantify how they can be tuned internally or through changing external environments. Using Lagrangian mechanics, we test feedforward and feedback control implementation via spring and latch dynamics. We establish through empirically-informed modeling that ultrafast movement can be controllably varied during latch release and spring propulsion. A deeper understanding of the interconnection between multiple control pathways, and the tunability of each control pathway, in ultrafast biomechanical systems presented here has the potential to expand the capabilities of synthetic ultra-fast systems and provides a new framework to understand the behaviors of fast organisms subject to perturbations and environmental non-idealities.

Generation of diverse insect-like gait patterns using networks of coupled Rössler systems

The generation of walking patterns is central to bio-inspired robotics and has been attained using methods encompassing diverse numerical as well as analog implementations. Here, we demonstrate the possibility of synthesizing viable gaits using a paradigmatic low-dimensional non-linear entity, namely, the Rössler system, as a dynamical unit. Through a minimalistic network wherein each instance is univocally associated with one leg, it is possible to readily reproduce the canonical gaits as well as generate new ones via changing the coupling scheme and the associated delays. Varying levels of irregularity can be introduced by rendering individual systems or the entire network chaotic. Moreover, through tailored mapping of the state variables to physical angles, adequate leg trajectories can be accessed directly from the coupled systems. The functionality of the resulting generator was confirmed in laboratory experiments by means of an instrumented six-legged ant-like robot. Owing to their simple form, the 18 coupled equations could be rapidly integrated on a bare-metal microcontroller, leading to the demonstration of real-time robot control navigating an arena using a brain-machine interface.

Muscle activity and kinematics show different responses to recurrent laryngeal nerve lesion in mammal swallowing

Understanding the interactions between neural and musculoskeletal systems is key to identifying mechanisms of functional failure. Mammalian swallowing is a complex, poorly understood motor process. Lesion of the recurrent laryngeal nerve, a sensory and motor nerve of the upper airway, results in airway protection failure (liquid entry into the airway) during swallowing through an unknown mechanism. We examined how muscle and kinematic changes after recurrent laryngeal nerve lesion relate to airway protection in eight infant pigs. We tested two hypotheses: 1) kinematics and muscle function will both change in response to lesion in swallows with and without airway protection failure, and 2) differences in both kinematics and muscle function will predict whether airway protection failure occurs in lesion and intact pigs. We recorded swallowing with high-speed videofluoroscopy and simultaneous electromyography of oropharyngeal muscles pre- and postrecurrent laryngeal nerve lesion. Lesion changed the relationship between airway protection and timing of tongue and hyoid movements. Changes in onset and duration of hyolaryngeal muscles postlesion were less associated with airway protection outcomes. The tongue and hyoid kinematics all predicted airway protection outcomes differently pre- and postlesion. Onset and duration of activity in only one infrahyoid and one suprahyoid muscle showed a change in predictive relationship pre- and postlesion. Kinematics of the tongue and hyoid more directly reflect changes in airway protections pre- and postlesion than muscle activation patterns. Identifying mechanisms of airway protection failure requires specific functional hypotheses that link neural motor outputs to muscle activation to specific movements.NEW & NOTEWORTHY Kinematic and muscle activity patterns of oropharyngeal structures used in swallowing show different patterns of response to lesion of the recurrent laryngeal nerve. Understanding how muscles act on structures to produce behavior is necessary to understand neural control.

Tranquilizer effect on the Lyapunov exponents of lame horses

Tranquilization of horses with acepromazine has been used to suppress erratic head movements and increase the accuracy of a lameness examination. Some equine clinicians believe that tranquilization with acepromazine will make lameness more evident by causing the horse to focus on adjusting its gait to avoid limb pain rather than its surroundings. The aim of this study was to investigate the effect of acepromazine on the Lyapunov exponents of lame horses. Ten lame horses were trotted in a straight line for a minimum of 25 strides. Kinematic data created by head movement were analyzed. Nonlinear analysis methods were applied to lame horse locomotion. The effect of acepromazine on the largest Lyapunov exponents of the lame horses were investigated. There was no statistically significant effect of acepromazine on the maximum value of Lyapunov exponents. The nonlinear dynamic methods can be used to analyze the gait in horses. Local stability of horse gait remains unchanged after the administration of acepromazine.

Chronic consumption of calabash chalk diet impairs locomotor activities and social behaviour in Swiss white Cd-1 mice

There are safety concerns as regards the consumption of Calabash chalk which is common practice in some localities in Africa and Asia. Calabash chalk contains lead (Pb) and arsenic which are believed to be harmful to the brain and responsible for cognitive dysfunction. It is possible that calabash chalk consumption may affect other neuronal activities in the body such as locomotion and social behaviour. Hence, this present research study investigated the effects of consumption of this diet on locomotion and social behaviour in mice. Forty-five Swiss white mice of mixed sex were randomly assigned into 3 groups of 15 mice each. Group 1 served as control, while groups 2 and 3 received low and high doses of calabash chalk diets respectively. Feeding lasted for 30 days and thereafter their locomotor and social behaviors were assessed. Their locomotor behaviour was assessed using the open field maze while their social behaviour was studied with the aid of nesting behaviour test. Results showed that the calabash chalk diet-fed mice had significantly reduced (p < 0.05) line crossing frequency compared to control. The nesting score of the calabash chalk diet-fed mice was significantly lower (p < 0.05) compared to control. In conclusion, consumption of calabash chalk impairs locomotion and social behaviour in mice.

The evolution of phenotypic plasticity in fish swimming

Fish have a remarkable amount of variation in their swimming performance, from within species differences to diversity among major taxonomic groups. Fish swimming is a complex, integrative phenotype and has the ability to plastically respond to a myriad of environmental changes. The plasticity of fish swimming has been observed on whole-organismal traits such as burst speed or critical swimming speed, as well as underlying phenotypes such as muscle fiber types, kinematics, cardiovascular system, and neuronal processes. Whether the plastic responses of fish swimming are beneficial seems to depend on the environmental variable that is changing. For example, because of the effects of temperature on biochemical processes, alterations of fish swimming in response to temperature do not seem to be beneficial. In contrast, changes in fish swimming in response to variation in flow may benefit the fish to maintain position in the water column. In this paper, we examine how this plasticity in fish swimming might evolve, focusing on environmental variables that have received the most attention: temperature, habitat, dissolved oxygen, and carbon dioxide variation. Using examples from previous research, we highlight many of the ways fish swimming can plastically respond to environmental variation and discuss potential avenues of future research aimed at understanding how plasticity of fish swimming might evolve. We consider the direct and indirect effects of environmental variation on swimming performance, including changes in swimming kinematics and suborganismal traits thought to predict swimming performance. We also discuss the role of the evolution of plasticity in shaping macroevolutionary patterns of diversity in fish swimming.

Coordination and fine motor control depend on Drosophila TRPγ

Motor coordination is broadly divided into gross and fine motor control, both of which depend on proprioceptive organs. However, the channels that function specifically in fine motor control are unknown. Here we show that mutations in trpγ disrupt fine motor control while leaving gross motor proficiency intact. The mutants are unable to coordinate precise leg movements during walking, and are ineffective in traversing large gaps due to an inability in making subtle postural adaptations that are requisite for this task. TRPγ is expressed in proprioceptive organs, and is required in both neurons and glia for gap crossing. We expressed TRPγ in vitro, and found that its activity is promoted by membrane stretch. A mutation eliminating the Na(+)/Ca(2+) exchanger suppresses the gap-crossing phenotype of trpγ flies. Our findings indicate that TRPγ contributes to fine motor control through mechanical activation in proprioceptive organs, thereby promoting Ca(2+) influx, which is required for function.