Deactivation rate and shortening velocity as determinants of contractile frequency

The mechanical properties of the mantle muscle of European cuttlefish (Sepia officinalis)

The circular muscles surrounding the mantle cavity of European cuttlefish (Sepia officinalis) generate the mechanical power to compress the cavity, forcing a jet of water out of the funnel, propelling the animal during jet propulsion swimming. During ontogeny, jetting frequency decreases in adults compared with juveniles, and this is expected to be reflected in the contractile properties of the locomotory muscles. To develop greater insight into how the locomotion of these animals is powered during ontogeny, we determined the mechanical properties of bundles of muscle fascicles during isometric, isotonic and cyclic length changes in vitro, at two life stages: juveniles and adults. The twitch kinetics were faster in juveniles than in adults (twitch rise time 257 ms compared with 371 ms; half-twitch relaxation 257 ms compared with 677 ms in juveniles and adults, respectively); however, twitch and tetanic stress, the maximum velocity of shortening and curvature of the force-velocity relationship did not differ. Under cyclic conditions, net power exhibited an inverted U-shaped relationship with cycle frequency in both juveniles and adults; the frequency at which maximum net power was achieved was shifted to lower cycle frequencies with increased maturity, which is consistent with the slower contraction and relaxation kinetics in adults compared with juveniles. The cycle frequency at which peak power was achieved during cyclical contractions in vitro was found to match that seen in vivo in juveniles, suggesting power is being maximised during jet propulsion swimming.

The ultrastructure and contractile properties of a fast-acting, obliquely striated, myosin-regulated muscle: the funnel retractor of squids

We investigated the ultrastructure, contractile properties, and in vivo length changes of the fast-acting funnel retractor muscle of the long-finned squid Doryteuthis pealeii. This muscle is composed of obliquely striated, spindle-shaped fibers ~3 mum across that have an abundant sarcoplasmic reticulum, consisting primarily of membranous sacs that form 'dyads' along the surface of each cell. The contractile apparatus consists of 'myofibrils' approximately 0.25-0.5 microm wide in cross section arrayed around the periphery of each cell, surrounding a central core that contains the nucleus and large mitochondria. Thick myofilaments are approximately 25 nm in diameter and approximately 2.8 microm long. 'Dense bodies' are narrow, resembling Z lines, but are discontinuous and are not associated with the cytoskeletal fibrillar elements that are so prominent in slower obliquely striated muscles. The cells approximate each other closely with minimal intervening intercellular connective tissue. Our physiological experiments, conducted at 17 degrees C, showed that the longitudinal muscle fibers of the funnel retractor were activated rapidly (8 ms latent period following stimulation) and generated force rapidly (peak twitch force occurred within 50 ms). The longitudinal fibers had low V(max) (2.15 +/-0.26 L(0) s(-1), where L(0) was the length that generated peak isometric force) but generated relatively high isometric stress (270+/-20 mN mm(-2) physiological cross section). The fibers exhibited a moderate maximum power output (49.9 W kg(-1)), compared with vertebrate and arthropod cross striated fibers, at a V/V(max) of 0.33+/-0.044. During ventilation of the mantle cavity and locomotion, the funnel retractor muscle operated in vivo over a limited range of strains (+0.075 to -0.15 relative to resting length, L(R)) and at low strain rates (from 0.16 to 0.91 L(R) s(-1) ), corresponding to a range of V/V(max) from 0.073 to 0.42. During the exhalant phase of the jet the range of strains was even narrower: maximum range less than +/-0.04, with the muscle operating nearly isometrically during ventilation and slow, arms-first swimming. The limited length operating range of the funnel retractor muscles, especially during ventilation and slow jetting, suggests that they may act as muscular struts.

Limitations of relaxation kinetics on muscular work

AIM

Positive net work produced during cyclic contractions is partially limited by relaxation kinetics, which to date, have not been directly investigated. Therefore, the purpose of this investigation was to determine the influence of relaxation kinetics on cyclic work.

METHODS

Soleus muscles of four cats were isolated and subjected to a series of work loops (0.5, 1, 1.5 and 2 Hz cycle frequencies) during which stimulation terminated prior to the end of the shortening phase to allow for complete muscle relaxation and matched discrete sinusoidal shortening contractions during which stimulation remained on until the completion of the shortening phase. Muscle length changes during these protocols were centred on optimum length and were performed across muscle lengths that represented walking gait.

RESULTS

When muscle excursions were centred on L(o) relaxation kinetics decreased muscular work by 2.8 + or - 0.8%, 12.1 + or - 4.1%, 27.9 + or - 4.5% and 40.1 + or - 5.9% for 0.5, 1, 1.5 and 2 Hz respectively. However, relaxation kinetics did not influence muscular work when muscle excursions represented walking gait. In addition, muscular work produced at muscle lengths associated with walking gait was less than the work produced across L(o) (55.7 + or - 20.0%, 53.5 + or - 21.0%, and 50.1 + or - 22.0% for 0.5, 1 and 1.5 Hz respectively).

CONCLUSION

These results imply that relaxation kinetics are an important factor that limit the ability of muscle to produce work; however, the influence of relaxation kinetics on physiological function may depend on the relation between the optimum length and natural excursion of a muscle.

The effect of temperature and thermal acclimation on the sustainable performance of swimming scup

There is a significant reduction in overall maximum power output of muscle at low temperatures due to reduced steady-state (i.e. maximum activation) power-generating capabilities of muscle. However, during cyclical locomotion, a further reduction in power is due to the interplay between non-steady-state contractile properties of muscle (i.e. rates of activation and relaxation) and the stimulation and the length-change pattern muscle undergoes in vivo. In particular, even though the relaxation rate of scup red muscle is slowed greatly at cold temperatures (10 degrees C), warm-acclimated scup swim with the same stimulus duty cycles at cold as they do at warm temperature, not affording slow-relaxing muscle any additional time to relax. Hence, at 10 degrees C, red muscle generates extremely low or negative work in most parts of the body, at all but the slowest swimming speeds. Do scup shorten their stimulation duration and increase muscle relaxation rate during cold acclimation? At 10 degrees C, electromyography (EMG) duty cycles were 18% shorter in cold-acclimated scup than in warm-acclimated scup. But contrary to the expectations, the red muscle did not have a faster relaxation rate, rather, cold-acclimated muscle had an approximately 50% faster activation rate. By driving cold- and warm-acclimated muscle through cold- and warm-acclimated conditions, we found a very large increase in red muscle power during swimming at 10 degrees C. As expected, reducing stimulation duration markedly increased power output. However, the increased rate of activation alone produced an even greater effect. Hence, to fully understand thermal acclimation, it is necessary to examine the whole system under realistic physiological conditions.

Interpreting muscle function from EMG: lessons learned from direct measurements of muscle force

Electromyography is often used to infer the pattern of production of force by skeletal muscles. The interpretation of muscle function from the electromyogram (EMG) is challenged by the fact that factors such as type of muscle fiber, muscle length, and muscle velocity can all influence the relationship between electrical and mechanical activity of a muscle. Simultaneous measurements of EMG, muscle force, and fascicle length in hindlimb muscles of wild turkeys allow us to probe the quantitative link between force and EMG. We examined two features of the force-EMG relationship. First, we measured the relaxation electromechanical delay (r-EMD) as the time from the end of the EMG signal to time of the end of force. This delay varied with locomotor speed in the lateral gastrocnemius (LG); it was longer at slow walking speeds than for running. This variation in r-EMD was not explained by differences in muscle length trajectory, as the magnitude of r-EMD was not correlated with the velocity of shortening of the muscle during relaxation. We speculate that the longer relaxation times at slow walking speeds compared with running may reflect the longer time course of relaxation in slower muscles fibers. We also examined the relationship between magnitude of force and EMG across a range of walking and running speeds. We analyzed the force-EMG relationship during the swing phase separately from the force-EMG relationship during stance phase. During stance, force amplitude (average force) was linearly related to mean EMG amplitude (average EMG). Forces during swing phase were lower than predicted from the stance phase force-EMG relationship. The different force-EMG relationships during the stance and swing phases may reflect the contribution of passive structures to the development of force, or a nonlinear force-EMG relationship at low levels of muscle activity. Together the results suggest that any inference of force from EMG must be done cautiously when a broad range of activities is considered.

Length-dependent deactivation of ventricular trabeculae in the bivalve, Spisula solidissima

Shortening-deactivation has been identified and characterized in ventricular trabeculae of the bivalve, Spisula solidissima (Heterodonta, Mactridae). This muscle had ultrastructural similarities to vertebrate smooth muscle. Deactivation was defined as the fraction of maximal force lost during a contraction when a muscle is shortened rapidly (by a quick-release, QR) to a known length, relative to a control isometric contraction at that same length. The magnitude of deactivation was dependent on the size of the release and the point at which the release was applied during the cycle of contraction. QR/quick-stretch (QS) perturbations at the same point during the contraction resulted in negligible deactivation. The magnitude of deactivation was independent of shortening rate. Deactivation was attenuated by applying caffeine (100 microM) and blocked with high extracellular Ca(2+) (56 mM). The Ca(2+) ionophore, A23187 (10 microM), augmented deactivation as did the positive inotrope serotonin (100 nM). Treatment with ryanodine (5 microM) had no significant effect on deactivation. These results suggest that a reduction in Ca(2+) at the contractile element and/or sequestration of Ca(2+) may occur during shortening. Deactivation may minimize the magnitude of work done during active shortening of bivalve cardiac muscle, particularly against the low afterload exhibited in the bivalve peripheral circulatory system. Intracellular Ca(2+) fluxes during sudden length perturbations may explain the effect of stretch on action potential duration in the bivalve heart, as shown previously.

Body temperature and locomotor capacity in a heterothermic rodent

We quantify the locomotor capacity of the round-tailed ground squirrel (Spermophilus tereticaudus), a mammal that can lower energetic costs by relaxing thermoregulatory limits without becoming inactive. We measured maximum sprint speed, maximum limb cycling frequency and maximum force production in animals at body temperatures ranging from 31 degrees C to 41 degrees C. We found no thermal dependence in any of these parameters of locomotion. Results (means +/- S.E.M.) across this range of body temperatures were: sprint speed = 4.73+/-0.04 m s(-1), limb cycling frequency = 19.4+/-0.1 Hz and maximum force production = 0.012+/-0.0003 N g(-1). The neuro-muscular system of this species may thus be less thermally dependent at these temperatures than that of other mammals, allowing for the maintenance of whole-animal performance across a broader range of body temperatures. The absence of any significant loss of locomotor capabilities associated with either a decrease of 7-8 degrees C or a rise of 3-4 degrees C in body temperature from typical mammalian values raises significant questions regarding our understanding of the evolution and physiology of the mammalian mode of thermoregulation.

Minimal shortening in a high-frequency muscle

Reducing the cost of high-frequency muscle contractions can be accomplished by minimizing cross-bridge cycling or by recycling elastic strain energy. Energy saving by contractile minimization has very different implications for muscle strain and activation patterns than by elastic recoil. Minimal cross-bridge cycling will be reflected in minimal contractile strains and highly reduced force, work and power output, whereas elastic energy storage requires a period of active lengthening that increases mechanical output. In this study, we used sonomicrometry and electromyography to test the relative contributions of energy reduction and energy recycling strategies in the tailshaker muscles of western diamondback rattlesnakes (Crotalus atrox). We found that tailshaker muscle contractions produce a mean strain of 3%, which is among the lowest strains ever recorded in vertebrate muscle during movement. The relative shortening velocities (V/V(max)) of 0.2-0.3 were in the optimal range for maximum power generation, indicating that the low power output reported previously for tailshaker muscle is due mainly to contractile minimization rather than to suboptimal V/V(max). In addition, the brief contractions (8-18 ms) had only limited periods of active lengthening (0.2-0.5 ms and 0.002-0.035%), indicating little potential for elastic energy storage and recoil. These features indicate that high-frequency muscles primarily reduce metabolic energy input rather than recycle mechanical energy output.

Comparative trends in shortening velocity and force production in skeletal muscles

Skeletal muscles are diverse in their properties, with specific contractile characteristics being matched to particular functions. In this study, published values of contractile properties for >130 diverse skeletal muscles were analyzed to detect common elements that account for variability in shortening velocity and force production. Body mass was found to be a significant predictor of shortening velocity in terrestrial and flying animals, with smaller animals possessing faster muscles. Although previous studies of terrestrial mammals revealed similar trends, the current study indicates that this pattern is more universal than previously appreciated. In contrast, shortening velocity in muscles used for swimming and nonlocomotory functions is not significantly affected by body size. Although force production is more uniform than shortening velocity, a significant correlation with shortening velocity was detected in muscles used for locomotion, with faster muscles tending to produce more force. Overall, the contractile properties of skeletal muscles are conserved among phylogenic groups, but have been significantly influenced by other factors such as body size and mode of locomotion.

Mechanical power output during running accelerations in wild turkeys

We tested the hypothesis that the hindlimb muscles of wild turkeys(Meleagris gallopavo) can produce maximal power during running accelerations. The mechanical power developed during single running steps was calculated from force-plate and high-speed video measurements as turkeys accelerated over a trackway. Steady-speed running steps and accelerations were compared to determine how turkeys alter their running mechanics from a low-power to a high-power gait. During maximal accelerations, turkeys eliminated two features of running mechanics that are characteristic of steady-speed running: (i) they produced purely propulsive horizontal ground reaction forces, with no braking forces, and (ii) they produced purely positive work during stance, with no decrease in the mechanical energy of the body during the step. The braking and propulsive forces ordinarily developed during steady-speed running are important for balance because they align the ground reaction force vector with the center of mass. Increases in acceleration in turkeys correlated with decreases in the angle of limb protraction at toe-down and increases in the angle of limb retraction at toe-off. These kinematic changes allow turkeys to maintain the alignment of the center of mass and ground reaction force vector during accelerations when large propulsive forces result in a forward-directed ground reaction force. During the highest accelerations, turkeys produced exclusively positive mechanical power. The measured power output during acceleration divided by the total hindlimb muscle mass yielded estimates of peak instantaneous power output in excess of 400 W kg-1 hindlimb muscle mass. This value exceeds estimates of peak instantaneous power output of turkey muscle fibers. The mean power developed during the entire stance phase increased from approximately zero during steady-speed runs to more than 150 W kg-1muscle during the highest accelerations. The high power outputs observed during accelerations suggest that elastic energy storage and recovery may redistribute muscle power during acceleration. Elastic mechanisms may expand the functional range of muscle contractile elements in running animals by allowing muscles to vary their mechanical function from force-producing struts during steady-speed running to power-producing motors during acceleration.

A motor and a brake: two leg extensor muscles acting at the same joint manage energy differently in a running insect

The individual muscles of a multiple muscle group at a given joint are often assumed to function synergistically to share the load during locomotion. We examined two leg extensors of a running cockroach to test the hypothesis that leg muscles within an anatomical muscle group necessarily manage (i.e. produce, store, transmit or absorb) energy similarly during running. Using electromyographic and video motion-analysis techniques, we determined that muscles 177c and 179 are both active during the first half of the stance period during muscle shortening. Using the in vivo strain and stimulation patterns determined during running, we measured muscle power output. Although both muscles were stimulated during the first half of shortening, muscle 177c generated mechanical energy (28 W kg–1) like a motor, while muscle 179 absorbed energy (–19 W kg–1) like a brake. Both muscles exhibited nearly identical intrinsic characteristics including similar twitch kinetics and force–velocity relationships. Differences in the extrinsic factors of activation and relative shortening velocity caused the muscles to operate very differently during running. Presumed redundancy in a multiple muscle group may, therefore, represent diversity in muscle function. Discovering how muscles manage energy during behavior requires the measurement of a large number of dynamically interacting variables.

The mechanical power output of the pectoralis muscle of blue-breasted quail (Coturnix chinensis): thein vivolength cycle and its implications for muscle performance

Sonomicrometry and electromyographic (EMG) recordings were made for the pectoralis muscle of blue-breasted quail (Coturnix chinensis) during take-off and horizontal flight. In both modes of flight, the pectoralis strain trajectory was asymmetrical, with 70 % of the total cycle time spent shortening. EMG activity was found to start just before mid-upstroke and continued into the downstroke. The wingbeat frequency was 23 Hz, and the total strain was 23 % of the mean resting length.

Bundles of fibres were dissected from the pectoralis and subjected in vitro to the in vivo length and activity patterns, whilst measuring force. The net power output was only 80 W kg–1 because of a large artefact in the force record during lengthening. For more realistic estimates of the pectoralis power output, we ignored the power absorbed by the muscle bundles during lengthening. The net power output during shortening averaged over the entire cycle was approximately 350 W kg–1, and in several preparations over 400 W kg–1. Sawtooth cycles were also examined for comparison with the simulation cycles, which were identical in all respects apart from the velocity profile. The power output during these cycles was found to be 14 % lower than during the in vivo strain trajectory. This difference was due to a higher velocity of stretch, which resulted in greater activation and higher power output throughout the later part of shortening, and the increase in shortening velocity towards the end of shortening, which facilitated deactivation.

The muscle was found to operate at a mean length shorter than the plateau of the length/force relationship, which resulted in the isometric stress measured at the mean resting length being lower than is typically reported for striated muscle.