Musculoskeletal modelling under an evolutionary perspective: deciphering the role of single muscle regions in closely related insects

Tanning of the tarsal and mandibular cuticle in adult Anax imperator (Insecta: Odonata) during the emergence sequence

The arthropod cuticle offers strength, protection, and lightweight. Due to its limit in expandability, arthropods have to moult periodically to grow. While moulting is beneficial in terms of parasite or toxin control, growth and adaptation to environmental conditions, it costs energy and leaves the soft animal's body vulnerable to injuries and desiccation directly after ecdysis. To investigate the temporal change in sclerotization and pigmentation during and after ecdysis, we combined macrophotography, confocal laser scanning microscopy, scanning electron microscopy and histological sectioning. We analysed the tarsal and mandibular cuticle of the blue emperor dragonfly to compare the progress of tanning for structures that are functionally involved during emergence (tarsus/tarsal claws) with structures whose functionality is required much later (mandibles). Our results show that: (i) the tanning of the tarsal and mandibular cuticle increases during emergence; (ii) the tarsal cuticle tans faster than the mandibular cuticle; (iii) the mandibles tan faster on the aboral than on the oral side; and (iv) both the exo- and the endocuticle are tanned. The change in the cuticle composition of the tarsal and mandibular cuticle reflects the demand for higher mechanical stability of these body parts when holding on to the substrate during emergence and during first walking or hunting attempts.

A bite force database of 654 insect species

Bite force is a decisive performance trait in animals because it plays a role for numerous life history components such as food consumption, inter- and intraspecific interactions, and reproductive success. Bite force has been studied across a wide range of vertebrate species, but only for 32 species of insects, the most speciose animal lineage. Here we present the insect bite force database with bite force measurements for 654 insect species covering 476 genera, 111 families, and 13 orders with body lengths ranging from 3.76 to 180.12 mm. In total we recorded 1906 bite force series from 1290 specimens, and, in addition, present basal head, body, and wing metrics. As such, the database will facilitate a wide range of studies on the characteristics, predictors, and macroevolution of bite force in the largest clade of the animal kingdom and may serve as a basis to further our understanding of macroevolutionary processes in relation to bite force across all biting metazoans.

Three-dimensional kinematics of leaf-cutter ant mandibles: not all dicondylic joints are simple hinges

Insects use their mandibles for a variety of tasks, including food processing, material transport, nest building, brood care, and fighting. Despite this functional diversity, mandible motion is typically thought to be constrained to rotation about a single fixed axis. Here, we conduct a direct quantitative test of this 'hinge joint hypothesis' in a species that uses its mandibles for a wide range of tasks: Atta vollenweideri leaf-cutter ants. Mandible movements from live restrained ants were reconstructed in three dimensions using a multi-camera rig. Rigid body kinematic analyses revealed strong evidence that mandible movement occupies a kinematic space that requires more than one rotational degree of freedom: at large opening angles, mandible motion is dominated by yaw. But at small opening angles, mandibles both yaw and pitch. The combination of yaw and pitch allows mandibles to 'criss-cross': either mandible can be on top when mandibles are closed. We observed criss-crossing in freely cutting ants, suggesting that it is functionally important. Combined with recent reports on the diversity of joint articulations in other insects, our results show that insect mandible kinematics are more diverse than traditionally assumed, and thus worthy of further detailed investigation. This article is part of the theme issue 'Food processing and nutritional assimilation in animals'.

Roles of muscle activities in foreleg movements during predatory strike of the mantis

Foreleg trajectory in the mantis strike varies depending on prey distance. To examine how muscle activities affect foreleg trajectory, we recorded strike behaviours of the Chinese mantis with a high-speed camera and electromyograms of the foreleg trochanteral extensor and flexor. At the approach phase of the mantis strike, the prothorax-coxa (P-C) joint elevated and the femur-tibia (F-T) joint extended. At the sweep phase, the coxa-trochanter (C-T) joint rapidly extended, then, the F-T joint rapidly flexed to capture the prey. At capture initiation, the C-T joint extended more with greater prey distance. After cutting the tendon of the trochanteral flexor, the C-T joint extended similarly to that of the intact foreleg but did not flex after it reached its peak angle. After cutting the tendon of the trochanteral extensor, the C-T joint did not extend as much as that of the intact foreleg. During rapid extension of the C-T joint, a burst of spikes from the coxal trochanteral extensor was observed in electromyograms. Among several parameters, burst duration was the best predictor of C-T joint angular change during strike. Unexpectedly, trochanteral flexor activity was also observed during rapid extension of the C-T joint. These results indicated that the coxal trochanteral extensor mainly contributed to the rapid C-T extension during strike, but other muscles also contributed at the beginning of extension. The trochanteral flexor appeared to contribute to C-T flexion by countering the rapid extension.

A biomechanical model for the relation between bite force and mandibular opening angle in arthropods

Bite forces play a key role in animal ecology: they affect mating behaviour, fighting success, and the ability to feed. Although feeding habits of arthropods have a significant ecological and economical impact, we lack fundamental knowledge on how the morphology and physiology of their bite apparatus controls bite performance, and its variation with mandible gape. To address this gap, we derived a biomechanical model that characterizes the relationship between bite force and mandibular opening angle from first principles. We validate this model by comparing its geometric predictions with morphological measurements on the muscoloskeletal bite apparatus of Atta cephalotes leaf-cutter ants, using computed tomography (CT) scans obtained at different mandible opening angles. We then demonstrate its deductive and inductive utility with three examplary use cases: Firstly, we extract the physiological properties of the leaf-cutter ant mandible closer muscle from in vivo bite force measurements. Secondly, we show that leaf-cutter ants are specialized to generate extraordinarily large bite forces, equivalent to about 2600 times their body weight. Thirdly, we discuss the relative importance of morphology and physiology in determining the magnitude and variation of bite force. We hope that a more detailed quantitative understanding of the link between morphology, physiology, and bite performance will facilitate future comparative studies on the insect bite apparatus, and help to advance our knowledge of the behaviour, ecology and evolution of arthropods.

Modeling the musculoskeletal system of an insect thorax for flapping flight

Indirect actuation of the wings via thoracic deformation is a unique mechanism widely observed in flying insect species. The physical properties of the thorax have been intensively studied in terms of their ability to efficiently generate wingbeats. The basic mechanism of indirect wing actuation is generally explained as a lever model on a cross-sectional plane, where the dorsoventral movement of the mesonotum (dorsal exoskeleton of the mesothorax) generated by contractions of indirect muscles actuates the wing. However, the model considers the mesonotum as an ideal flat plane, whereas the mesonotum is hemispherical and becomes locally deformed during flight. Furthermore, the conventional model is two-dimensional; therefore, three-dimensional wing kinematics by indirect muscles have not been studied to date. In this study, we develop structural models of the mesonotum and mesothorax of the hawkmothAgrius convolvuli, reconstructed from serial cross-sectional images. External forces are applied to the models to mimic muscle contraction, and mesonotum deformation and wing trajectories are analyzed using finite element analysis. We find that applying longitudinal strain to the mesonotum to mimic strain by depressor muscle contraction reproduces local deformation comparable to that of the thorax during flight. Furthermore, the phase difference of the forces applied to the depressor and elevator muscles changes the wing trajectory from a figure eight to a circle, which is qualitatively consistent with the tethered flight experiment. These results indicate that the local deformation of the mesonotum due to its morphology and the thoracic deformation via indirect power muscles can modulate three-dimensional wing trajectories.

Kinematic Modeling at the Ant Scale: Propagation of Model Parameter Uncertainties

Quadrupeds and hexapods are known by their ability to adapt their locomotive patterns to their functions in the environment. Computational modeling of animal movement can help to better understand the emergence of locomotive patterns and their body dynamics. Although considerable progress has been made in this subject in recent years, the strengths and limitations of kinematic simulations at the scale of small moving animals are not well understood. In response to this, this work evaluated the effects of modeling uncertainties on kinematic simulations at small scale. In order to do so, a multibody model of a Messor barbarus ant was developed. The model was built from 3D scans coming from X-ray micro-computed tomography. Joint geometrical parameters were estimated from the articular surfaces of the exoskeleton. Kinematic data of a free walking ant was acquired using high-speed synchronized video cameras. Spatial coordinates of 49 virtual markers were used to run inverse kinematics simulations using the OpenSim software. The sensitivity of the model’s predictions to joint geometrical parameters and marker position uncertainties was evaluated by means of two Monte Carlo simulations. The developed model was four times more sensitive to perturbations on marker position than those of the joint geometrical parameters. These results are of interest for locomotion studies of small quadrupeds, octopods, and other multi-legged animals.

Regulation of excitation-contraction coupling at the Drosophila neuromuscular junction

The Drosophila neuromuscular system is widely used to characterize synaptic development and function. However, little is known about how specific synaptic alterations effect neuromuscular transduction and muscle contractility, which ultimately dictate behavioural output. Here we develop and use a force transducer system to characterize excitation-contraction coupling at Drosophila larval neuromuscular junctions (NMJs), examining how specific neuronal and muscle manipulations disrupt muscle contractility. Muscle contraction force increased with motoneuron stimulation frequency and duration, showing considerable plasticity between 5 and 40 Hz and saturating above 50 Hz. Endogenous recordings of fictive contractions revealed average motoneuron burst frequencies of 20-30 Hz, consistent with the system operating within this plastic range of contractility. Temperature was also a key factor in muscle contractility, as force was enhanced at lower temperatures and dramatically reduced with increasing temperatures. Pharmacological and genetic manipulations of critical components of Ca2+ regulation in both pre- and postsynaptic compartments affected the strength and time course of muscle contractions. A screen for modulators of muscle contractility led to identification and characterization of the molecular and cellular pathway by which the FMRFa peptide, TPAEDFMRFa, increases muscle performance. These findings indicate Drosophila NMJs provide a robust system to correlate synaptic dysfunction, regulation and modulation to alterations in excitation-contraction coupling. KEY POINTS: Larval muscle contraction force increases with stimulation frequency and duration, revealing substantial plasticity between 5 and 40 Hz. Fictive contraction recordings demonstrate endogenous motoneuron burst frequencies consistent with the neuromuscular system operating within the range of greatest plasticity. Genetic and pharmacological manipulations of critical components of pre- and postsynaptic Ca2+ regulation significantly affect the strength and time course of muscle contractions. A screen for modulators of the excitation-contraction machinery identified a FMRFa peptide, TPAEDFMRFa and its associated signalling pathway, that dramatically increases muscle performance. Drosophila serves as an excellent model for dissecting components of the excitation-contraction coupling machinery.

Morphological determinants of bite force capacity in insects: a biomechanical analysis of polymorphic leaf-cutter ants

The extraordinary success of social insects is partially based on division of labour, i.e. individuals exclusively or preferentially perform specific tasks. Task preference may correlate with morphological adaptations so implying task specialization, but the extent of such specialization can be difficult to determine. Here, we demonstrate how the physical foundation of some tasks can be leveraged to quantitatively link morphology and performance. We study the allometry of bite force capacity in Atta vollenweideri leaf-cutter ants, polymorphic insects in which the mechanical processing of plant material is a key aspect of the behavioural portfolio. Through a morphometric analysis of tomographic scans, we show that the bite force capacity of the heaviest colony workers is twice as large as predicted by isometry. This disproportionate 'boost' is predominantly achieved through increased investment in muscle volume; geometrical parameters such as mechanical advantage, fibre length or pennation angle are likely constrained by the need to maintain a constant mandibular opening range. We analyse this preference for an increase in size-specific muscle volume and the adaptations in internal and external head anatomy required to accommodate it with simple geometric and physical models, so providing a quantitative understanding of the functional anatomy of the musculoskeletal bite apparatus in insects.

Morphometric Analysis of Coptotermes spp. Soldier Caste (Blattodea: Rhinotermitidae) in Indonesia and Evidence of Coptotermes gestroi Extreme Head-Capsule Shapes

Linear and geometric morphometrics approaches were conducted to analyze the head capsule (HC) shape of collected soldier caste specimens of Coptotermes from various locations in Indonesia. The soldiers' morphology was observed and measured. The results of the principal component analysis of the group of all species showed two important groups of variables, i.e., the body size and setae characteristics of the pronotum and head. The multicollinearity of the morphometric variables showed the importance of body measurements as well as important alternative characteristics such as the pronotum setae (PrS) and HC setae. Four trends of HC shape were observed across the species. Interestingly, three extreme shapes were depicted by geometric morphometrics of the C. gestroi HC. The phylogenetic tree inferred from 12S and 16S mitochondrial gene fragments showed high confidence for C. gestroi populations. The lateral expansion of the posterior part of the HC across the species was in accordance with the increasing of the number of hairlike setae on the pronotum and HC. These differences among species might be associated with mandible-force-related defensive labor and sensitivity to environmental stressors.

A biological switching valve evolved in the female of a sex-role reversed cave insect to receive multiple seminal packages

We report a functional switching valve within the female genitalia of the Brazilian cave insect Neotrogla. The valve complex is composed of two plate-like sclerites, a closure element, and in-and-outflow canals. Females have a penis-like intromittent organ to coercively anchor males and obtain voluminous semen. The semen is packed in a capsule, whose formation is initiated by seminal injection. It is not only used for fertilization but also consumed by the female as nutrition. The valve complex has two slots for insemination so that Neotrogla can continue mating while the first slot is occupied. In conjunction with the female penis, this switching valve is a morphological novelty enabling females to compete for seminal gifts in their nutrient-poor cave habitats through long copulation times and multiple seminal injections. The evolution of this switching valve may have been a prerequisite for the reversal of the intromittent organ in Neotrogla.

Material composition of the mouthpart cuticle in a damselfly larva (Insecta: Odonata) and its biomechanical significance

Odonata larvae are key predators in their habitats. They catch prey with a unique and highly efficient apparatus, the prehensile mask. The mandibles and maxillae, however, play the lead in handling and crushing the food. The material composition of the cuticle in the biomechanical system of the larval mouthparts has not been studied so far. We used confocal laser scanning microscopy (CLSM) to detect material gradients in the cuticle by differences in autofluorescence. Our results show variations of materials in different areas of the mouthparts: (i) resilin-dominated pads within the membranous transition between the labrum and the anteclypeus, which support mobility and might provide shock absorption, an adaptation against mechanical damage; (ii) high degrees of sclerotization in the incisivi of the mandibles, where high forces occur when crushing the prey's body wall. The interaction of the cuticle geometry, the material composition and the related musculature determine the complex concerted movements of the mouthparts. The material composition influences the strength, mobility and durability of the cuticular components of the mouthparts. Applying CLSM for extracting information about material composition and material properties of arthropod cuticles will considerably help improve finite-element modelling studies.

A biomechanical analysis of prognathous and orthognathous insect head capsules: evidence for a many-to-one mapping of form to function

Insect head shapes are remarkably variable, but the influences of these changes on biomechanical performance are unclear. Among 'basal' winged insects, such as dragonflies, mayflies, earwigs and stoneflies, some of the most prominent anatomical changes are the general mouthpart orientation, eye size and the connection of the endoskeleton to the head. Here, we assess these variations as well as differing ridge and sclerite configurations using modern engineering methods including multibody dynamics modelling and finite element analysis in order to quantify and compare the influence of anatomical changes on strain in particular head regions and the whole head. We show that a range of peculiar structures such as the genal/subgenal, epistomal and circumocular areas are consistently highly loaded in all species, despite drastically differing morphologies in species with forward-projecting (prognathous) and downward-projecting (orthognathous) mouthparts. Sensitivity analyses show that the presence of eyes has a negligible influence on head capsule strain if a circumocular ridge is present. In contrast, the connection of the dorsal endoskeletal arms to the head capsule especially affects overall head loading in species with downward-projecting mouthparts. Analysis of the relative strains between species for each head region reveals that concerted changes in head substructures such as the subgenal area, the endoskeleton and the epistomal area lead to a consistent relative loading for the whole head capsule and vulnerable structures such as the eyes. It appears that biting-chewing loads are managed by a system of strengthening ridges on the head capsule irrespective of the general mouthpart and head orientation. Concerted changes in ridge and endoskeleton configuration might allow for more radical anatomical changes such as the general mouthpart orientation, which could be an explanation for the variability of this trait among insects. In an evolutionary context, many-to-one mapping of strain patterns onto a relatively similar overall head loading indeed could have fostered the dynamic diversification processes seen in insects.

Form-function relationships in dragonfly mandibles under an evolutionary perspective

Functional requirements may constrain phenotypic diversification or foster it. For insect mouthparts, the quantification of the relationship between shape and function in an evolutionary framework remained largely unexplored. Here, the question of a functional influence on phenotypic diversification for dragonfly mandibles is assessed with a large-scale biomechanical analysis covering nearly all anisopteran families, using finite element analysis in combination with geometric morphometrics. A constraining effect of phylogeny could be found for shape, the mandibular mechanical advantage (MA), and certain mechanical joint parameters, while stresses and strains, the majority of joint parameters and size are influenced by shared ancestry. Furthermore, joint mechanics are correlated with neither strain nor mandibular MA and size effects have virtually play no role for shape or mechanical variation. The presence of mandibular strengthening ridges shows no phylogenetic signal except for one ridge peculiar to Libelluloidea, and ridge presence is also not correlated with each other. The results suggest that functional traits are more variable at this taxonomic level and that they are not influenced by shared ancestry. At the same time, the results contradict the widespread idea that mandibular morphology mainly reflects functional demands at least at this taxonomic level. The varying functional factors rather lead to the same mandibular performance as expressed by the MA, which suggests a many-to-one mapping of the investigated parameters onto the same narrow mandibular performance space.

Computational biomechanics changes our view on insect head evolution

Despite large-scale molecular attempts, the relationships of the basal winged insect lineages dragonflies, mayflies and neopterans, are still unresolved. Other data sources, such as morphology, suffer from unclear functional dependencies of the structures considered, which might mislead phylogenetic inference. Here, we assess this problem by combining for the first time biomechanics with phylogenetics using two advanced engineering techniques, multibody dynamics analysis and finite-element analysis, to objectively identify functional linkages in insect head structures which have been used traditionally to argue basal winged insect relationships. With a biomechanical model of unprecedented detail, we are able to investigate the mechanics of morphological characters under biologically realistic load, i.e. biting. We show that a range of head characters, mainly ridges, endoskeletal elements and joints, are indeed mechanically linked to each other. An analysis of character state correlation in a morphological data matrix focused on head characters shows highly significant correlation of these mechanically linked structures. Phylogenetic tree reconstruction under different data exclusion schemes based on the correlation analysis unambiguously supports a sistergroup relationship of dragonflies and mayflies. The combination of biomechanics and phylogenetics as it is proposed here could be a promising approach to assess functional dependencies in many organisms to increase our understanding of phenotypic evolution.