The jumping mechanism of Xenopsylla cheopis. III. Execution of the jump and activity

Comparison of water and terrestrial jumping in natural and robotic insects

Jumping requires high actuation power for achieving high speed in a short time. Especially, organisms and robots at the insect scale jump in order to overcome size limits on the speed of locomotion. As small jumpers suffer from intrinsically small power output, efficient jumpers have devised various ingenuous schemes to amplify their power release. Furthermore, semi-aquatic jumpers have adopted specialized techniques to fully exploit the reaction from water. We review jumping mechanisms of natural and robotic insects that jump on the ground and the surface of water, and compare the performance depending on their scale. We find a general trend that jumping creatures maximize jumping speed by unique mechanisms that manage acceleration, force, and takeoff duration under the constraints mainly associated with their size, shape, and substrate.

Jumping mechanism in the marsh beetles (Coleoptera: Scirtidae)

The jumping mechanism with supporting morphology and kinematics is described in the marsh beetle Scirtes hemisphaericus (Coleoptera: Scirtidae). In marsh beetles, the jump is performed by the hind legs by the rapid extension of the hind tibia. The kinematic parameters of the jump are: 139–1536 m s⁻² (acceleration), 0.4–1.9 m s⁻¹ (velocity), 2.7–8.4 ms (time to take-off), 0.2–5.4 × 10^–6 J (kinetic energy) and 14–156 (g-force). The power output of a jumping leg during the jumping movement is 3.5 × 10³ to 9.6 × 10³ W kg⁻¹. A resilin-bearing elastic extensor ligament is considered to be the structure that accumulates the elastic strain energy. The functional model of the jumping involving an active latching mechanism is proposed. The latching mechanism is represented by the conical projection of the tibial flexor sclerite inserted into the corresponding socket of the tibial base. Unlocking is triggered by the contraction of flexor muscle pulling the tibial flexor sclerite backwards which in turn comes out of the socket. According to the kinematic parameters, the time of full extension of the hind tibia, and the value of the jumping leg power output, this jumping mechanism is supposed to be latch-mediated spring actuation using the contribution of elastically stored strain energy.

Switchable Self-Assembly of Elastin- and Resilin-Based Block Copolypeptides with Converse Phase Transition Behaviors

Self-assembly of thermally responsive polypeptides into unique nanostructures offers intriguing attributes including dynamic physical dimensions, biocompatibility, and biodegradability for the smart bio-nanomaterials. As elastin-based polypeptide (EBP) fusion proteins with lower critical solution temperature (LCST) are studied as drug delivery systems, EBP block copolypeptides with the resilin-based polypeptide (RBP) displaying an upper critical solution temperature (UCST) have been of great interest. In this study, we report thermally triggered, dynamic self-assembly of EBP- and RBP-based diblock copolypeptides into switched nanostructures with reversibility under physiological conditions. Molecular DNA clones encoding for the EBP-RBP diblocks at different block length ratios were biosynthesized via recursive directional ligation and overexpressed, followed by nonchromatographic purification by inverse transition cycling. Genetically engineered diblock copolypeptides composed of the EBP with an LCST and the RBP with a UCST showed converse phase transition behaviors with both a distinct LCST and a distinct UCST (LCST < UCST). As temperature increased, three phases of these EBP-RBP diblocks were observed: (1) self-assembled micelles or vesicles below both LCST and UCST, (2) whole aggregates above LCST and below UCST, and (3) reversed micelles above both LCST and UCST. In conclusion, these stimuli-triggered, dynamic protein-based nanostructures are promising for advanced drug delivery systems, regenerative medicine, and biomedical nanotechnology.

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.

Intraspecific variation of body size in fleas: effects of host sex and flea phenology

We investigated the effects of host sex and flea phenology (estimated as periods of high versus low abundance) on individual body size in four fleas of small mammals. Amalaraeus penicilliger and Ctenophthalmus uncinatus are ectoparasites of the bank vole Myodes glareolus, whereas Doratopsylla dasycnema and Palaeopsylla soricis are ectoparasites of the common shrew Sorex araneus. We found significant effects of host sex and phenology on the body size of all flea species, although there was no general trend in the directions of these effects. Larger A. penicilliger were found on female hosts, whereas larger P. soricis were found on male hosts. In the remaining species, larger fleas were collected from male hosts during periods of high abundance (male C. uncinatus and female D. dasycnema) and from female hosts during periods of low abundance (male C. uncinatus). Regarding phenology, larger fleas were recorded during periods of either high (A. penicilliger, C. uncinatus, D. dasycnema) or low (C. uncinatus, P. soricis) abundance, but this depended on flea and/or host sex. We conclude that the directions of the host sex and phenology effects varied between flea species. Furthermore, the direction of the host sex effect was mediated by the effect of phenology and vice versa.

Playing with Power: Mechanisms of Energy Flow in Organismal Movement

Across multiple evolutionary clades and size scales, organismal movement requires controlling the flow of energy through the body to enhance certain functions. Whether energy is released or absorbed by the organism, proper function hinges on the ability to manipulate both where and when energy is transferred. For example, both power amplification and power attenuation rely on the use of springs for the intermediate storage of energy between the body and the environment; but variation in function is the result of the path and timing of energy flow. In this symposium, we have invited speakers that demonstrate the diversity of mechanisms used to control the flow of energy through the body and into the environment. By bringing together researchers investigating movements in the context of power and energy flow, the major goal of this symposium is to facilitate fresh perspectives on the unifying mechanical themes of energy transfer in organismal movement.

Effectiveness and efficiency of two distinct mechanisms for take-off in a derbid planthopper insect

Analysis of the kinematics of take-off in the planthopper Proutista moesta (Hemiptera, Fulgoroidea, family Derbidae) from high-speed videos showed that these insects used two distinct mechanisms involving different appendages. The first was a fast take-off (55.7% of 106 take-offs by 11 insects) propelled by a synchronised movement of the two hind legs and without participation of the wings. The body was accelerated in 1 ms or less to a mean take-off velocity of 1.7 m s^-1 while experiencing average forces of more than 150 times gravity. The power required from the leg muscles implicated a power-amplification mechanism. Such take-offs propelled the insect along its trajectory a mean distance of 7.9 mm in the first 5 ms after take-off. The second and slower take-off mechanism (44.3% of take-offs) was powered by beating movements of the wings alone, with no discernible contribution from the hind legs. The resulting mean acceleration time was 16 times slower at 17.3 ms, the mean final velocity was six times lower at 0.27 m s^-1, the g forces experienced were 80 times lower and the distance moved in 5 ms after take-off was 7 times shorter. The power requirements could be readily met by direct muscle contraction. The results suggest a testable hypothesis that the two mechanisms serve distinct behavioural actions: the fast take-offs could enable escape from predators and the slow take-offs that exert much lower ground reaction forces could enable take-off from more flexible substrates while also displacing the insect in a slower and more controllable trajectory.

Functional diversity of resilin in Arthropoda

Resilin is an elastomeric protein typically occurring in exoskeletons of arthropods. It is composed of randomly orientated coiled polypeptide chains that are covalently cross-linked together at regular intervals by the two unusual amino acids dityrosine and trityrosine forming a stable network with a high degree of flexibility and mobility. As a result of its molecular prerequisites, resilin features exceptional rubber-like properties including a relatively low stiffness, a rather pronounced long-range deformability and a nearly perfect elastic recovery. Within the exoskeleton structures, resilin commonly forms composites together with other proteins and/or chitin fibres. In the last decades, numerous exoskeleton structures with large proportions of resilin and various resilin functions have been described. Today, resilin is known to be responsible for the generation of deformability and flexibility in membrane and joint systems, the storage of elastic energy in jumping and catapulting systems, the enhancement of adaptability to uneven surfaces in attachment and prey catching systems, the reduction of fatigue and damage in reproductive, folding and feeding systems and the sealing of wounds in a traumatic reproductive system. In addition, resilin is present in many compound eye lenses and is suggested to be a very suitable material for optical elements because of its transparency and amorphousness. The evolution of this remarkable functional diversity can be assumed to have only been possible because resilin exhibits a unique combination of different outstanding properties.

Ultrastructure of dragonfly wing veins: composite structure of fibrous material supplemented by resilin

Dragonflies count among the most skilful of the flying insects. Their exceptional aerodynamic performance has been the subject of various studies. Morphological and kinematic investigations have showed that dragonfly wings, though being rather stiff, are able to undergo passive deformation during flight, thereby improving the aerodynamic performance. Resilin, a rubber-like protein, has been suggested to be a key component in insect wing flexibility and deformation in response to aerodynamic loads, and has been reported in various arthropod locomotor systems. It has already been found in wing vein joints, connecting longitudinal veins to cross veins, and was shown to endow the dragonfly wing with chordwise flexibility, thereby most likely influencing the dragonfly's flight performance. The present study revealed that resilin is not only present in wing vein joints, but also in the internal cuticle layers of veins in wings of Sympetrum vulgatum (SV) and Matrona basilaris basilaris (MBB). Combined with other structural features of wing veins, such as number and thickness of cuticle layers, material composition, and cross-sectional shape, resilin most probably has an effect on the vein's material properties and the degree of elastic deformations. In order to elucidate the wing vein ultrastructure and the exact localisation of resilin in the internal layers of the vein cuticle, the approaches of bright-field light microscopy, wide-field fluorescence microscopy, confocal laser-scanning microscopy, scanning electron microscopy and transmission electron microscopy were combined. Wing veins were shown to consist of up to six different cuticle layers and a single row of underlying epidermal cells. In wing veins of MBB, the latter are densely packed with light-scattering spheres, previously shown to produce structural colours in the form of quasiordered arrays. Longitudinal and cross veins differ significantly in relative thickness of exo- and endocuticle, with cross veins showing a much thicker exocuticle. The presence of resilin in the unsclerotised endocuticle suggests its contribution to an increased energy storage and material flexibility, thus to the prevention of vein damage. This is especially important in the highly stressed longitudinal veins, which have much lower possibility to yield to applied loads with the aid of vein joints, as the cross veins do. These results may be relevant not only for biologists, but may also contribute to optimise the design of micro-air vehicles.

Functional morphology of the male caudal appendages of the damselfly Ischnura elegans (Zygoptera: Coenagrionidae)

Odonata are usually regarded as one of the most ancient extant lineages of winged insects. Their copulatory apparatus and mating behavior are unique among insects. Male damselflies use their caudal appendages to clasp the female's prothorax during both copulation and egg-laying and have a secondary copulatory apparatus for sperm transfer. Knowledge of the functional morphology of the male caudal appendages is the basis for understanding the evolution of these structures in Odonata and respective organs in other insects. However, it is still not exactly known how the zygopteran claspers work. In this study, we applied micro-computed tomography and a variety of microscopy techniques to examine the morphology, surface microstructure, cuticle material composition and muscle topography of the male caudal appendages of Ischnura elegans. The results indicate that the closing of the paraproctal claspers is mainly passive. This indirect closing mechanism is very likely supported by high proportions of the elastic protein resilin present in the cuticle of the paraproctal bases. In addition, the prothoracic morphology of the female plays an important role in the indirect closing of the male claspers. Our data indicate that both structures - the male claspers and the female prothoracic hump - function together like a snap-fastener.

Expression of the rubber-like protein, resilin, in developing and functional insect cuticle determined using a Drosophila anti-Rec 1 resilin antibody

BACKGROUND

The natural elastomeric protein, insect resilin, is the most efficient elastic material known, used to store energy for jumping and flight in a variety of insects. Here, an antibody to recombinant Drosophila melanogaster pro-resilin is used to examine resilin expression in Drosophila and a wider range of insects.

RESULTS

Immunostaining of Drosophila embryos reveals anti-resilin reactivity in epidermal patches that exhibit a dynamic spatial and temporal expression through late embryogenesis. Resilin is also detected in stretch receptors in the embryo. In developing adult Drosophila, resilin pads are described at the base of wings and at the base of flexible sensory hairs in pupae. Resilin is also detected in embryos of the tephritid fruitfly, Bactrocera tryoni, and two well-known concentrations of insect resilin: the flight muscle tendon of the dragonfly and the pleural arch of the flea.

CONCLUSIONS

The anti-Rec1 antibody antibody developed using Drosophila pro-resilin as antigen is cross-reactive and is useful for detection of resilin in diverse insects. For the first time, resilin expression has been detected during embryogenesis, revealing segmental patches of resilin in the developing epidermis of Drosophila.

Locusts use a composite of resilin and hard cuticle as an energy store for jumping and kicking

Locusts jump and kick by using a catapult mechanism in which energy is first stored and then rapidly released to extend the large hind legs. The power is produced by a slow contraction of large muscles in the hind femora that bend paired semi-lunar processes in the distal part of each femur and store half the energy needed for a kick. We now show that these energy storage devices are composites of hard cuticle and the rubber-like protein resilin. The inside surface of a semi-lunar process consists of a layer of resilin, particularly thick along an inwardly pointing ridge and tightly bonded to the external, black cuticle. From the outside, resilin is visible only as a distal and ventral triangular area that tapers proximally. High-speed imaging showed that the semi-lunar processes were bent in all three dimensions during the prolonged muscular contractions that precede a kick. To reproduce these bending movements, the extensor tibiae muscle was stimulated electrically in a pattern that mimicked the normal sequence of its fast motor spikes recorded in natural kicking. Externally visible resilin was compressed and wrinkled as a semi-lunar process was bent. It then sprung back to restore the semi-lunar process rapidly to its original natural shape. Each of the five nymphal stages jumped and kicked and had a similar distribution of resilin in their semi-lunar processes as adults; the resilin was shed with the cuticle at each moult. It is suggested that composite storage devices that combine the elastic properties of resilin with the stiffness of hard cuticle allow energy to be stored by bending hard cuticle over only a small distance and without fracturing. In this way all the stored energy is returned and the natural shape of the femur is restored rapidly so that a jump or kick can be repeated.

Elastomeric polypeptides

Elastomeric polypeptides are very interesting biopolymers and are characterized by rubber-like elasticity, large extensibility before rupture, reversible deformation without loss of energy, and high resilience upon stretching. Their useful properties have motivated their use in a wide variety of materials and biological applications. This chapter focuses on elastin and resilin - two elastomeric biopolymers - and the recombinant polypeptides derived from them (elastin-like polypeptides and resilin-like polypeptides). This chapter also discusses the applications of these recombinant polypeptides in the fields of purification, drug delivery, and tissue engineering.

Antibody labelling of resilin in energy stores for jumping in plant sucking insects

The rubbery protein resilin appears to form an integral part of the energy storage structures that enable many insects to jump by using a catapult mechanism. In plant sucking bugs that jump (Hemiptera, Auchenorrhyncha), the energy generated by the slow contractions of huge thoracic jumping muscles is stored by bending composite bow-shaped parts of the internal thoracic skeleton. Sudden recoil of these bows powers the rapid and simultaneous movements of both hind legs that in turn propel a jump. Until now, identification of resilin at these storage sites has depended exclusively upon characteristics that may not be specific: its fluorescence when illuminated with specific wavelengths of ultraviolet (UV) light and extinction of that fluorescence at low pH. To consolidate identification we have labelled the cuticular structures involved with an antibody raised against a product of the Drosophila CG15920 gene. This encodes pro-resilin, the first exon of which was expressed in E. coli and used to raise the antibody. We show that in frozen sections from two species, the antibody labels precisely those parts of the metathoracic energy stores that fluoresce under UV illumination. The presence of resilin in these insects is thus now further supported by a molecular criterion that is immunohistochemically specific.

Resilin-bearing wing vein joints in the dragonfly Epiophlebia superstes

In this study, we compared the dorsal and ventral patterns of three vein joint types and three types of resilin patches in the wings of the dragonfly Epiophlebia superstes. The joint types were classified according to their general structure and the resilin patch types according to their arrangement at joints and in the adjacent wing membrane. Resilin patches are found in both dorsal and ventral pleat valleys of the corrugated wings of E. superstes, which results in different patterns of resilin distribution on the dorsal and ventral sides of the wing. In addition to its probable function in conferring flexibility to stressed joints, resilin may also have a damping function. Our results suggest that resilin patches in the leading edge may be loaded in compression, whereas in the trailing area, they may be involved in angle widening and thus loaded in tension. Possible adaptations to the deformability of different areas of the wing, e.g. during the process of camber formation, are discussed.

Jumping mechanisms and performance of snow fleas (Mecoptera, Boreidae)

Flightless snow fleas (snow scorpion flies, Mecoptera, Boreidae) live as adults during northern hemisphere winters, often jumping and walking on the surface of snow. Their jumping mechanisms and performance were analysed with high speed imaging. Jumps were propelled by simultaneous movements of both the middle and hind pairs of legs, as judged by the 0.2 ms resolution afforded by image rates of 5000 frames s(-1). The middle legs of males represent 140% and the hindlegs 187% of the body length (3.4 mm), and the ratio of leg lengths is 1:1.3:1.7 (front:middle:hind). In preparation for a jump the middle legs and hindlegs were rotated forwards at their coxal joints with the fused mesothorax and metathorax. The first propulsive movement of a jump was the rotation of the trochantera about the coxae, powered by large depressor muscles within the thorax. The acceleration time was 6.6 ms. The fastest jump by a male had a take-off velocity of 1 m s(-1), which required 1.1 μJ of energy and a power output of 0.18 mW, and exerted a force about 16 times its body weight. Jump distances of about 100 mm were unaffected by temperature. This, and the power per mass of muscle requirement of 740 W kg(-1), suggests that a catapult mechanism is used. The elastic protein resilin was revealed in four pads at the articulation of the wing hinge with the dorsal head of the pleural ridge of each middle leg and hindleg. By contrast, fleas, which use just their hindlegs for jumping, have only two pads of resilin. This, therefore, provides a functional reference point for considerations about the phylogenetic relationships between snow fleas and true fleas.

Thermal effects on the dynamics and motor control of ballistic prey capture in toads: maintaining high performance at low temperature

Temperature has a strong influence on biological rates, including the contractile rate properties of muscle and thereby the velocity, acceleration and power of muscle-powered movements. We hypothesized that the dynamics of movements powered by elastic recoil have a lower thermal dependence than muscle-powered movements. We examined the prey capture behavior of toads (Bufo terrestris) using high speed imaging and electromyography to compare the effects of body temperature (11-35°C) on the kinematics, dynamics and motor control of two types of movement: (1) ballistic mouth opening and tongue projection, which are powered by elastic recoil, and (2) non-ballistic prey transport, including tongue retraction and mouth closing, which are powered directly by muscle contraction. Over 11-25°C, temperature coefficients of ballistic mouth opening and tongue projection dynamics (Q(10) of 0.99-1.25) were not significantly different from 1.00 and were consistently lower than those of prey transport movements (Q(10) of 1.77-2.26), supporting our main hypothesis. The depressor mandibulae muscle, which is responsible for ballistic mouth opening and tongue projection via the recovery of elastic strain energy stored by the muscle prior to the onset of the movement, was activated earlier and for a longer duration at lower temperatures (Q(10) of 2.29-2.41), consistent with a slowing of its contractile rates. Muscle recruitment was unaffected by temperature, as revealed by the lack of thermal dependence in the intensity of activity of both the jaw depressor and jaw levator muscles (Q(10) of 0.754-1.12). Over the 20-35°C range, lower thermal dependence was found for the dynamics of non-elastic movements and the motor control of both elastic and non-elastic movements, in accord with a plateau of high performance found in other systems.

Biomechanics of jumping in the flea

It has long been established that fleas jump by storing and releasing energy in a cuticular spring, but it is not known how forces from that spring are transmitted to the ground. One hypothesis is that the recoil of the spring pushes the trochanter onto the ground, thereby generating the jump. A second hypothesis is that the recoil of the spring acts through a lever system to push the tibia and tarsus onto the ground. To decide which of these two hypotheses is correct, we built a kinetic model to simulate the different possible velocities and accelerations produced by each proposed process and compared those simulations with the kinematics measured from high-speed images of natural jumping. The in vivo velocity and acceleration kinematics are consistent with the model that directs ground forces through the tibia and tarsus. Moreover, in some natural jumps there was no contact between the trochanter and the ground. There were also no observable differences between the kinematics of jumps that began with the trochanter on the ground and jumps that did not. Scanning electron microscopy showed that the tibia and tarsus have spines appropriate for applying forces to the ground, whereas no such structures were seen on the trochanter. Based on these observations, we discount the hypothesis that fleas use their trochantera to apply forces to the ground and conclude that fleas jump by applying forces to the ground through the end of the tibiae.

Host gender and offspring quality in a flea parasitic on a rodent

The quality of offspring produced by parent fleas (Xenopsylla ramesis) fed on either male or female rodent hosts (Meriones crassus) was studied. The emergence success, duration of development, resistance to starvation upon emergence and body size of the flea offspring were measured. It was predicted that offspring of fleas produced by parents that fed on male hosts (i) will survive better as pre-imago, (ii) will develop faster, (iii) will live longer under starvation after emergence and (iv) will be larger than offspring of fleas fed on female hosts. The emergence success of pre-imaginal fleas was relatively high, ranging from 46.9% to 100.0% and averaging 78.4±3.0%, and was not affected by host gender. The duration of development of pre-imaginal fleas depended on the gender of the host of parents and differed between male and female offspring, with female fleas developing faster. Furthermore, male fleas developed faster if their parents fed on female rather than on male hosts, whereas no difference in the duration of development between host genders was found in female fleas. The time to death under starvation did not depend on the gender of either the flea or the host. A newly emerged flea, on average, lived 31.9±1.0 days without access to food. The relationship between host gender and body size of male flea offspring was the only effect that supported the predictions. An increase in body size in male fleas could increase their mating success and, ultimately, their fitness.

Elastomeric polypeptide-based biomaterials

Elastomeric proteins are characterized by their large extensibility before rupture, reversible deformation without loss of energy, and high resilience upon stretching. Motivated by their unique mechanical properties, there has been tremendous research in understanding and manipulating elastomeric polypeptides, with most work conducted on the elastins but more recent work on an expanded set of polypeptide elastomers. Facilitated by biosynthetic strategies, it has been possible to manipulate the physical properties, conformation, and mechanical properties of these materials. Detailed understanding of the roles and organization of the natural structural proteins has permitted the design of elastomeric materials with engineered properties, and has thus expanded the scope of applications from elucidation of the mechanisms of elasticity to the development of advanced drug delivery systems and tissue engineering substrates.

Energy storage and synchronisation of hind leg movements during jumping in planthopper insects (Hemiptera, Issidae)

The hind legs of Issus (Hemiptera, Issidae) move in the same plane underneath the body, an arrangement that means they must also move synchronously to power jumping. Moreover, they move so quickly that energy must be stored before a jump and then released suddenly. High speed imaging and analysis of the mechanics of the proximal joints of the hind legs show that mechanical mechanisms ensure both synchrony of movements and energy storage. The hind trochantera move first in jumping and are synchronised to within 30 micros. Synchrony is achieved by mechanical interactions between small protrusions from each trochantera which fluoresce bright blue under specific wavelengths of ultra-violet light and which touch at the midline when the legs are cocked before a jump. In dead Issus, a depression force applied to a cocked hind leg, or to the tendon of its trochanteral depressor muscle causes a simultaneous depression of both hind legs. The protrusion of the hind leg that moves first nudges the other hind leg so that both move synchronously. Contractions of the trochanteral depressor muscles that precede a jump bend the metathoracic pleural arches of the internal skeleton. Large areas of these bow-shaped structures fluoresce bright blue in ultraviolet light, and the intensity of this fluorescence depends on the pH of the bathing saline. These are key signatures of the rubber-like protein resilin. The remainder of a pleural arch consists of stiff cuticle. Bending these composite structures stores energy and their recoil powers jumping.

A single muscle moves a crustacean limb joint rhythmically by acting against a spring containing resilin

Background

The beating or fanning movements of three pairs of maxilliped flagella in crabs and crayfish modify exhalent gill currents while drawing water over chemoreceptors on the head. They play an integral part both in signalling by distributing urine odours, and in active chemosensation.

Results

The rhythmical maxilliped movements start with maxilliped 3 followed after a delay of 15 to 20 ms in shore crabs by maxilliped 2 and then maxilliped 1, at a frequency of 18 to 20 Hz in crabs and 10 to 13 Hz in signal crayfish. The contraction of a single abductor muscle controls the power stroke (abduction) of each flagellum, which is accompanied by flaring of feather-like setae which increase its surface area. No muscle can bring about the return stroke (adduction). Release of an isolated flagellum from an imposed abduction is followed by a rapid recoil to its resting adducted position. The relationship between the extent of abduction and the angular velocity of the return stroke indicates the operation of a spring. Blue fluorescence under UV light, and its dependence on the pH of the bathing medium, indicates that resilin is present at the joint between an exopodite and flagellum, at the annuli of a flagellum and at the base of the setae.

Conclusion

Resilin is progressively bent as a flagellum is abducted and resumes its natural shape when the joint recoils. Other distortions of the exopodites may also contribute to this spring-like action. The joint is therefore controlled by a single abductor muscle operating against a spring in which the elastic properties of resilin play a key role.

Resilin and chitinous cuticle form a composite structure for energy storage in jumping by froghopper insects

Background

Many insects jump by storing and releasing energy in elastic structures within their bodies. This allows them to release large amounts of energy in a very short time to jump at very high speeds. The fastest of the insect jumpers, the froghopper, uses a catapult-like elastic mechanism to achieve their jumping prowess in which energy, generated by the slow contraction of muscles, is released suddenly to power rapid and synchronous movements of the hind legs. How is this energy stored?

Results

The hind coxae of the froghopper are linked to the hinges of the ipsilateral hind wings by pleural arches, complex bow-shaped internal skeletal structures. They are built of chitinous cuticle and the rubber-like protein, resilin, which fluoresces bright blue when illuminated with ultra-violet light. The ventral and posterior end of this fluorescent region forms the thoracic part of the pivot with a hind coxa. No other structures in the thorax or hind legs show this blue fluorescence and it is not found in larvae which do not jump. Stimulating one trochanteral depressor muscle in a pattern that simulates its normal action, results in a distortion and forward movement of the posterior part of a pleural arch by 40 μm, but in natural jumping, the movement is at least 100 μm.

Conclusion

Calculations showed that the resilin itself could only store 1% to 2% of the energy required for jumping. The stiffer cuticular parts of the pleural arches could, however, easily meet all the energy storage needs. The composite structure therefore, combines the stiffness of the chitinous cuticle with the elasticity of resilin. Muscle contractions bend the chitinous cuticle with little deformation and therefore, store the energy needed for jumping, while the resilin rapidly returns its stored energy and thus restores the body to its original shape after a jump and allows repeated jumping.

Neural control and coordination of jumping in froghopper insects

The thrust for jumping in froghopper insects is produced by a rapid, synchronous depression of both hind legs generated by huge, multipartite trochanteral depressor muscles in the thorax and smaller levator muscles in the coxae. A three-phase motor pattern activates these muscles in jumping. First, a levation phase lasts a few hundred milliseconds, in which a burst of spikes in the trochanteral levator motor neurons moves the hind legs into their fully cocked position and thus engages a mechanical lock between a coxa and a femur. Second, a cocked phase lasts a few seconds, in which a trochanteral depressor motor neuron spikes continuously at a frequency gradually rising to 50 Hz, although the hind legs remain stationary. Levator motor spikes are sporadic. Third, the jump movement lasts <1 ms, in which the spikes in the depressors stop abruptly and the legs rapidly depress. This pattern may vary in the speed of the initial levation and in the duration of the cocked phase. Recordings from the depressor muscles on both sides showed remarkable synchrony of their motor spikes. In one 4.9-long cocked phase all 174 spikes were synchronous and in another 27 s period of continuous spiking all but one of 1,176 spikes were synchronous. When a single hind leg moves rapidly, these depressor spikes are nevertheless independent of those of the other leg. These features of the motor pattern and the coupling between motor neurons to the two hind legs ensure powerful movements to propel rapid jumping.

Design and mechanical properties of insect cuticle

Since nearly all adult insects fly, the cuticle has to provide a very efficient and lightweight skeleton. Information is available about the mechanical properties of cuticle-Young's modulus of resilin is about 1 MPa, of soft cuticles about 1 kPa to 50 MPa, of sclerotised cuticles 1-20 GPa; Vicker's Hardness of sclerotised cuticle ranges between 25 and 80 kgf mm(-2); density is 1-1.3 kg m(-3)-and one of its components, chitin nanofibres, the Young's modulus of which is more than 150 GPa. Experiments based on fracture mechanics have not been performed although the layered structure probably provides some toughening. The structural performance of wings and legs has been measured, but our understanding of the importance of buckling is lacking: it can stiffen the structure (by elastic postbuckling in wings, for example) or be a failure mode. We know nothing of fatigue properties (yet, for instance, the insect wing must undergo millions of cycles, flexing or buckling on each cycle). The remarkable mechanical performance and efficiency of cuticle can be analysed and compared with those of other materials using material property charts and material indices. Presented in this paper are four: Young's modulus-density (stiffness per unit weight), specific Young's modulus-specific strength (elastic hinges, elastic energy storage per unit weight), toughness-Young's modulus (fracture resistance under various loading conditions), and hardness (wear resistance). In conjunction with a structural analysis of cuticle these charts help to understand the relevance of microstructure (fibre orientation effects in tendons, joints and sense organs, for example) and shape (including surface structure) of this fibrous composite for a given function. With modern techniques for analysis of structure and material, and emphasis on nanocomposites and self-assembly, insect cuticle should be the archetype for composites at all levels of scale.

The jumping mechanism of cicada Cercopis vulnerata (Auchenorrhyncha, Cercopidae): skeleton-muscle organisation, frictional surfaces, and inverse-kinematic model of leg movements

In Auchenorrhyncha, jumping is achieved by metathoracic muscles which are inserted into the trochanter of the hind leg. The synchronisation of movements of the hind legs is a difficult problem, as the leg extension that produces the jump occurs in less than 1 ms. Even slight asynchrony could potentially result in failure of a jump. Both the synchronisation of the movements of a pair of jumping legs, and their stabilisation during a jump, seem to be important problems for small jumping insects. The present study was performed in order to clarify some questions of the functional morphology of the leafhopper jumping mechanism. It is based on skeleton-muscle reconstruction, high-speed video recordings, transmission (TEM) and scanning electron microscopic (SEM) investigations of the cuticle, together with 3D inverse-kinematic modelling of angles and working zones of hind leg joints of cicada Cercopis vulnerata (Cercopidae). The complete extension of the hind leg takes less than 1 ms, which suggests that the jump is powered not only by the muscle system, but also by an elastic spring. Histological staining and fluorescence microscopy showed resilin-bearing structures, responsible for elastic energy storage, in the pleural area of the metathorax. Synchronisation of hind leg movements may be aided by microtrichia fields that are located on the medial surface of each hind coxa. In Auchenorrhyncha, hind coxae are rounded in their anterior and lateral parts, whereas medial parts are planar, and contact each other over a rather large area. The inverse-kinematic model of propulsive leg movements was used to draw the surface outlined by the medial surface of the coxa, during the jump movement. This is a cone surface, faced with its bulged-in side, medially. Surfaces outlined by the movements of both right and left coxae overlap in their anterior and posterior positions. In both extreme positions, coxae are presumably connected to each other by coupled microtrichia fields. Thus, in extreme positions, both coxae can be moved synchronously.

Metabolic rate and jump performance in seven species of desert fleas

We hypothesized that sexual and interspecific differences in jumping performance of fleas found in our previous study are correlated with differences in resting metabolic rate (RMR) between sexes and among species. To test this hypothesis, we measured RMR of seven flea species (Xenopsylla conformis mycerini, Xenopsylla ramesis, Xenopsylla dipodilli, Parapulex chephrenis, Synosternus cleopatrae pyramidis, Nosopsyllus iranus theodori and Stenoponia tripectinata medialis). We compared RMR between sexes and among species and examined whether there is intra- and interspecific correlation between RMR and jumping ability. Both mass-specific and mass-independent RMR were the highest in female S. t. medialis, whereas mass-specific RMR was the lowest in male X. dipodilli and mass-independent RMR was the lowest in three Xenopsylla species and P. chephrenis. Mass-specific and mass-independent RMR were significantly higher in females than in males in all fleas except S. t. medialis. Differences in jumping ability between males and females were found to be correlated with sexual differences in mass-specific or mass-independent RMR. Interspecific comparison showed that the length of jump in both male and female fleas was strongly affected by their mass-specific and mass-independent RMR.

Changes in the structure of the cuticle of Ixodes ricinus L. 1758 (Acari, Ixodidae) during feeding

Female Ixodes ricinus (ticks) are able to consume several times as much as their own weight in food. The body volume increases without the animal moulting. Special structural and material characteristics of the cuticular exoskeleton render this phenomenon possible. Only the alloscutum, which has a very pronounced lamellar structure, extends. The individual lamellae correspond to surface folds in the outer endocuticle and the epicuticle covering it. The degree of folding is correlated to the nutritional state of the animal, which can be differentiated into three significant phases. The phase-dependent morphology of the surface structure and the cuticular layers of the alloscutum are described qualitatively and quantitatively in this paper. Furthermore, the presence of systematic deposits of resilin in the alloscutum, which are significant for the flexibility, is demonstrated.

A comparison of jump performances of the dog flea, Ctenocephalides canis (Curtis, 1826) and the cat flea, Ctenocephalides felis felis (Bouché, 1835)

Jump performances of Ctenocephalides canis and Ctenocephalides felis felis have been measured and compared on unfed young imagos. The mean length of the C. felis felis jump was 19.9+/-9.1cm; minimum jump was 2cm, and the maximum was one 48cm. The C. canis jump was significantly longer (30.4+/-9.1cm; from 3 to 50cm). For height jump evaluation, grey plastic cylindric tubes measuring 9cm in diameter were used. Their height was increasing from 1 to 30cm by 1cm. Groups of 10 fleas of the same species were deposited on the base of the tube. The number of fleas which succeeded in jumping above the tube was recorded. The mean height jump carried out by 50% of fleas was calculated after linearisation of the curves: it was 15.5 and 13.2cm for C. canis and C. felis, respectively. The highest jump was 25 for C. canis and 17cm for C. felis.

The function of resilin in beetle wings

This account shows the distribution of elastic elements in hind wings in the scarabaeid Pachnoda marginata and coccinellid Coccinella septempunctata (both Coleoptera). Occurrence of resilin, a rubber-like protein, in some mobile joints together with data on wing unfolding and flight kinematics suggest that resilin in the beetle wing has multiple functions. First, the distribution pattern of resilin in the wing correlates with the particular folding pattern of the wing. Second, our data show that resilin occurs at the places where extra elasticity is needed, for example in wing folds, to prevent material damage during repeated folding and unfolding. Third, resilin provides the wing with elasticity in order to be deformable by aerodynamic forces. This may result in elastic energy storage in the wing.

Elastic joints in dermapteran hind wings: materials and wing folding

Representatives of Dermaptera probably have the most unusual hind wing venation and folding pattern among insects. Both correlate with unusual wing folding mechanics, in which folding is achieved from within the wing and unfolding is done by the cerci. In this account, the hind wings of the earwig Forficula auricularia were studied by means of bright field and fluorescence microscopy. Resilin, a rubber-like protein, was revealed in several, clearly defined patches. It occurs dorsally in the radiating veins, but ventrally in the intercalary vein. This distribution determines the folding direction, and resilin is the major driving mechanism for wing folding. Resilin stores elastic energy in broadened vein patches and along the folds. At the other locations, the mid-wing mechanism and central area, the primary function of resilin is suggested to be prevention of material failure. The arrangement of resilin patches is such that the wing cannot be unfolded from the thorax proper but must be unfolded by the cerci. In Dermaptera, the antagonistic movements of folding and unfolding are achieved in two different ways, resilin and cerci. To our knowledge this is unique.

Identification of resilin in the leg of cockroach, Periplaneta americana: confirmation by a simple method using pH dependence of UV fluorescence

We have examined the tarsus (foot) and tibial segments of the cockroach leg to identify structures that contain the elastic protein resilin. The presence of resilin was tested using the conventional criteria of fluorescent emission at 420 nm under UV illumination and histological staining of wholemount tissues by toluidine blue. We have also developed a simple method of confirming identification of resilin through changes in its fluorescence that occur with alteration of pH of the surrounding medium. Using a commonly available excitation filter that only passes light at >330 nm, we found that the emission was present at neutral pH but was eliminated at low pH. It then reversibly reappeared when medium of higher pH was restored. This effect is attributable to a known shift in the absorption maximum of amino acids of resilin that occurs in acidic media (from 330 to 285 nm). The accuracy of this method of identification was confirmed by examination of ligaments of the wing hinge, which has previously been shown to contain resilin in a number of insects. Using these techniques, we have identified resilin in association with ligaments at the tibio-tarsal joint and in the articulation between the fourth and fifth tarsal segments of the leg. The anatomical arrangement of these ligaments suggests that they could aid in the generation of leg movements during walking by functioning as elastic antagonists to the actions of leg muscles. The method of identification we have devised could readily be applied to aid in the localization of resilin in other animals.