Storage and recovery of elastic potential energy powers ballistic prey capture in toads

Linking in vivo muscle dynamics to force-length and force-velocity properties reveals that guinea fowl lateral gastrocnemius operates at shorter than optimal lengths

The isometric force-length (F-L) and isotonic force-velocity (F-V) relationships characterize the contractile properties of skeletal muscle under controlled conditions, yet it remains unclear how these properties relate to in vivo muscle function. Here, we map the in situ F-L and F-V characteristics of guinea fowl (Numida meleagris) lateral gastrocnemius (LG) to the in vivo operating range during walking and running. We test the hypothesis that muscle fascicles operate on the F-L plateau, near the optimal length for force (L0) and near velocities that maximize power output (Vopt) during walking and running. We found that in vivo LG velocities are consistent with optimizing power during work production, and economy of force at higher loads. However, LG does not operate near L0 at higher loads. LG length was near L0 at the time of electromyography (EMG) onset but shortened rapidly such that force development during stance occurred on the ascending limb of the F-L curve, around 0.8L0. Shortening across L0 in late swing might optimize potential for rapid force development near the swing-stance transition, providing resistance to unexpected perturbations that require rapid force development. We also found evidence of in vivo passive force rise in late swing, without EMG activity, at lengths where in situ passive force is zero, suggesting that dynamic viscoelastic effects contribute to in vivo force development. Comparison of in vivo operating ranges with F-L and F-V properties suggests the need for new approaches to characterize muscle properties in controlled conditions that more closely resemble in vivo dynamics.

Prey capture kinematics of horned frogs (Anura: Ceratophryidae)

Horned frogs, members of the Ceratophryidae family, encompass a group of anurans varying in size and behavior, yet unified by morphological and behavioral traits enabling them to adopt a megalophagous diet (i.e., large prey feeding). Although the group has been the focus of numerous studies, our understanding of its feeding behavior remains limited. In this study, we characterize the feeding mechanism in five species representing the three extant genera of ceratophryid anurans, both in terrestrial and aquatic environments. We also explore the ability of Chacophrys pierottii to adjust feeding behavior based on prey type. Our findings show that all species are capable of wide mouth opening, displaying an asymmetric feeding cycle. While tongue usage is the primary method for capturing prey on land, ceratophryids may use their forelimbs to manipulate prey into their mouths, exhibiting different behavioral patterns. C. pierottii shows modulation of its feeding kinematics and is also capable of some modulation of its feeding in response to prey properties.

Do salamanders chew? An X-ray reconstruction of moving morphology analysis of ambystomatid intraoral feeding behaviours

Chewing is widespread across vertebrates, including mammals, lepidosaurs, and ray-finned and cartilaginous fishes, yet common wisdom about one group-amphibians-is that they swallow food whole, without processing. Earlier salamander studies lacked analyses of internal kinematics of the tongue, analyses of muscle function, and sampled few individuals, which may have caused erroneous conclusions. Specifically, without tongue and food kinematics, intraoral behaviours are difficult to disambiguate. We hypothesized that ambystomatid salamanders use diverse intraoral behaviours, including chewing, and tested this hypothesis with biplanar videofluoroscopy, X-ray reconstruction of moving morphology, and fluoromicrometry. We generated musculoskeletal kinematic profiles for intraoral behaviours in Axolotls (Ambystoma mexicanum), including three-dimensional skeletal kinematics associated with feeding, for gape, cranial and pectoral girdle rotations, and tongue translations. We also measured muscle fibre and muscle-tendon unit strains for six muscles involved in generating skull, jaw and tongue kinematics (adductor mandibulae, depressor mandibulae, geniohyoid, sternohyoid, epaxialis and hypaxialis). A principal component analysis recovered statistically significant differences between behaviour cycles, classified based on food movements as either chewing or transport. Thus, our data suggest that ambystomatid salamanders use a previously unrecognized diversity of intraoral behaviours, including chewing. Combined with existing knowledge, our data suggest that chewing is a basal trait for tetrapods and jaw-bearing vertebrates. This article is part of the theme issue 'Food processing and nutritional assimilation in animals'.

Evidence for multi-scale power amplification in skeletal muscle

Many animals use a combination of skeletal muscle and elastic structures to amplify power output for fast motions. Among vertebrates, tendons in series with skeletal muscle are often implicated as the primary power-amplifying spring, but muscles contain elastic structures at all levels of organization, from the muscle tendon to the extracellular matrix to elastic proteins within sarcomeres. The present study used ex vivo muscle preparations in combination with high-speed video to quantify power output, as the product of force and velocity, at several levels of muscle organization to determine where power amplification occurs. Dynamic ramp-shortening contractions in isolated frog flexor digitorum superficialis brevis were compared with isotonic power output to identify power amplification within muscle fibers, the muscle belly, free tendon and elements external to the muscle tendon. Energy accounting revealed that artifacts from compliant structures outside of the muscle-tendon unit contributed significant peak instantaneous power. This compliance included deflection of clamped bone that stored and released energy contributing 195.22±33.19 W kg-1 (mean±s.e.m.) to the peak power output. In addition, we found that power detected from within the muscle fascicles for dynamic shortening ramps was 338.78±16.03 W kg-1, or approximately 1.75 times the maximum isotonic power output of 195.23±8.82 W kg-1. Measurements of muscle belly and muscle-tendon unit also demonstrated significant power amplification. These data suggest that intramuscular tissues, as well as bone, have the capacity to store and release energy to amplify whole-muscle power output.

Linking in vivo muscle dynamics to in situ force-length and force-velocity reveals that guinea fowl lateral gastrocnemius operates at shorter than optimal lengths

Force-length (F-L) and force-velocity (F-V) properties characterize skeletal muscle's intrinsic properties under controlled conditions, and it is thought that these properties can inform and predict in vivo muscle function. Here, we map dynamic in vivo operating range and mechanical function during walking and running, to the measured in situ F-L and F-V characteristics of guinea fowl (Numida meleagris) lateral gastrocnemius (LG), a primary ankle extensor. We use in vivo patterns of muscle tendon force, fascicle length, and activation to test the hypothesis that muscle fascicles operate at optimal lengths and velocities to maximize force or power production during walking and running. Our findings only partly support our hypothesis: in vivo LG velocities are consistent with optimizing power during work production, and economy of force at higher loads. However, LG does not operate at lengths on the force plateau (±5% Fmax) during force production. LG length was near L0 at the time of EMG onset but shortened rapidly such that force development during stance occurred almost entirely on the ascending limb of the F-L curve, at shorter than optimal lengths. These data suggest that muscle fascicles shorten across optimal lengths in late swing, to optimize the potential for rapid force development near the swing-stance transition. This may provide resistance against unexpected perturbations that require rapid force development at foot contact. We also found evidence of passive force rise (in absence of EMG activity) in late swing, at lengths where passive force is zero in situ, suggesting that dynamic history dependent and viscoelastic effects may contribute to in vivo force development. Direct comparison of in vivo work loops and physiological operating ranges to traditional measures of F-L and F-V properties suggests the need for new approaches to characterize dynamic muscle properties in controlled conditions that more closely resemble in vivo dynamics.

Sustained force production by the jaw-adductor muscles of a megalophagous frog, Ceratophrys cranwelli

Most frogs have weak jaws that play a relatively minor role in tongue-mediated prey capture. Horned frogs (Ceratophrys spp.), however, follow the projection of a large tongue with a vice-like grip of their jaws to hold and immobilize prey. Prey include relatively large vertebrates, which they may restrain for minutes to possibly hours. High endurance behaviors, such as prolonged biting, require that muscles be capable of sustained force production. The feeding behavior of Ceratophrys suggests that their jaw-adductor muscles may be capable of powering sustained bites for long periods. We examined the capacity for sustained bite force by conducting an in situ experiment during which we measured bite force while bilaterally and supramaximally stimulating the jaw-adductor muscles of euthanized Cranwell's horned frogs (C. cranwelli). Muscles were stimulated for at least 60 min with a series of tetanic trains, with one experiment lasting over 6 h. We found that a significant sustained force develops during the first few minutes of the experiment, and this force is present between tetanic trains when the muscles are not being stimulated. The sustained force persists long after tetanic forces are barely detectable. The observed sustained force phenomenon parallels that observed for the jaw-adductor muscles of alligator lizards (Elgaria), another animal capable of sustained biting. The ability to bite with sustained and significant force by C. cranwelli may be facilitated by a configuration of different muscle fiber types, such as slow tonic fibers, as well as specializations in the muscle fibers that mitigate the effects of fatigue.

The force response of muscles to activation and length perturbations depends on length history

Recent studies have demonstrated that muscle force is not determined solely by activation under dynamic conditions, and that length history has an important role in determining dynamic muscle force. Yet, the mechanisms for how muscle force is produced under dynamic conditions remain unclear. To explore this, we investigated the effects of muscle stiffness, activation and length perturbations on muscle force. First, submaximal isometric contraction was established for whole soleus muscles. Next, the muscles were actively shortened at three velocities. During active shortening, we measured muscle stiffness at optimal muscle length (L0) and the force response to time-varying activation and length perturbations. We found that muscle stiffness increased with activation but decreased as shortening velocity increased. The slope of the relationship between maximum force and activation amplitude differed significantly among shortening velocities. Also, the intercept and slope of the relationship between length perturbation amplitude and maximum force decreased with shortening velocity. As shortening velocities were related to muscle stiffness, the results suggest that length history determines muscle stiffness and the history-dependent muscle stiffness influences the contribution of activation and length perturbations to muscle force. A two-parameter viscoelastic model including a linear spring and a linear damper in parallel with measured stiffness predicted history-dependent muscle force with high accuracy. The results and simulations support the hypothesis that muscle force under dynamic conditions can be accurately predicted as the force response of a history-dependent viscoelastic material to length perturbations.

Geometric latches enable tuning of ultrafast, spring-propelled movements

The smallest, fastest, repeated-use movements are propelled by power-dense elastic mechanisms, yet the key to their energetic control may be found in the latch-like mechanisms that mediate transformation from elastic potential energy to kinetic energy. Here, we tested how geometric latches enable consistent or variable outputs in ultrafast, spring-propelled systems. We constructed a reduced-order mathematical model of a spring-propelled system that uses a torque reversal (over-center) geometric latch. The model was parameterized to match the scales and mechanisms of ultrafast systems, specifically snapping shrimp. We simulated geometric and energetic configurations that enabled or reduced variation of strike durations and dactyl rotations given variation of stored elastic energy and latch mediation. Then, we collected an experimental dataset of the energy storage mechanism and ultrafast snaps of live snapping shrimp (Alpheus heterochaelis) and compared our simulations with their configuration. We discovered that snapping shrimp deform the propodus exoskeleton prior to the strike, which may contribute to elastic energy storage. Regardless of the amount of variation in spring loading duration, strike durations were far less variable than spring loading durations. When we simulated this species' morphological configuration in our mathematical model, we found that the low variability of strike duration is consistent with their torque reversal geometry. Even so, our simulations indicate that torque reversal systems can achieve either variable or invariant outputs through small adjustments to geometry. Our combined experiments and mathematical simulations reveal the capacity of geometric latches to enable, reduce or enhance variation of ultrafast movements in biological and synthetic systems.

XROMM Analysis of Feeding Mechanics in Toads: Interactions of the Tongue, Hyoid, and Pectoral Girdle

During feeding in many terrestrial vertebrates, the tongue acts in concert with the hyoid and pectoral girdle. In frogs, these three elements are interconnected by musculature. While the feeding mechanics of the anuran tongue are well-studied, little is known of how the motions of the tongue relate to the movements of the skeleton or how buccal structures move following closure of the mouth. Although features such as the pectoral girdle and hyoid are not externally visible in frogs, their motions can be tracked in X-ray video. We used XROMM (X-ray Reconstruction of Moving Morphology) techniques to track the 3D movements of the tongue, hyoid apparatus, pectoral girdle, skull, and jaw during the feeding cycle of the cane toad, Rhinella marina . We show how the movements of these elements are integrated during tongue protrusion and prey capture, as well as during prey transport, swallowing, and recovery. Our findings suggest that the hyoid apparatus is important both for prey manipulation and swallowing. The tongue consistently stretches posterior to the skull during swallowing, often more than it stretches during protrusion to reach the prey. Feeding kinematics are similar between individuals, and the kinematics of unsuccessful strikes generally resemble those of successful strikes. Our data also provide a new perspective on the potential role of the pectoral girdle, an element with a predominant locomotor function, during feeding events. This work raises new questions about the evolution of feeding in frogs, as well as how the diversity of pectoral and buccal anatomy observed across anurans may influence feeding kinematics.

Active muscle stiffness is reduced during rapid unloading in muscles from TtnD112-158 mice with a large deletion to PEVK titin

Evidence suggests that the giant muscle protein, titin functions as a tunable spring in active muscle. However, the mechanisms for increasing titin stiffness with activation are not well understood. Previous studies have suggested that during muscle activation, titin binds to actin which engages the PEVK region of titin thereby increasing titin stiffness. In this study, we investigated the role of PEVK titin in active muscle stiffness during rapid unloading. We measured elastic recoil of active and passive soleus muscles from TtnD112-158 mice characterized by a 75% deletion of PEVK titin and increased passive stiffness. We hypothesized that activated TtnD112-158 muscles are more stiff than wild type muscles due to the increased stiffness of PEVK titin. Using a servomotor force lever, we compared the stress–strain relationships of elastic elements in active and passive muscles during rapid unloading and quantified the change in stiffness upon activation. Results show that the elastic modulus of TtnD112-158 muscles increased with activation. However, elastic elements developed force at 7% longer lengths and exhibited 50% lower active stiffness in TtnD112-158 soleus muscles than wild type muscles. Thus, despite having a shorter, stiffer PEVK segment, during rapid unloading, TtnD112-158 soleus muscles exhibited reduced active stiffness compared to wild type soleus muscles. These results are consistent with the idea that PEVK titin contributes to active muscle stiffness, however, the reduction in active stiffness of TtnD112-158 muscles suggests that other mechanisms compensate for the increased PEVK stiffness.

Pseudogenized Amelogenin Reveals Early Tooth Loss in True Toads (Anura: Bufonidae)

Extant anurans (frogs and toads) exhibit reduced dentition, ranging from a lack of mandibular teeth to complete edentulation, as observed in the true toads of the family Bufonidae. The evolutionary time line of these reductions remains vague due to a poor fossil record. Previous studies have demonstrated an association between the lack of teeth in edentulous vertebrates and the pseudogenization of the major tooth enamel gene amelogenin (AMEL) through accumulation of deleterious mutations and the disruption of its coding sequence. In this study, we have harnessed the pseudogenization of AMEL as a molecular dating tool to correlate loss of dentition with genomic mutation patterns during the rise of the family Bufonidae. Specifically, we have utilized AMEL pseudogenes in three members of the family as a tool to estimate the putative date of edentulation in true toads. Comparison of AMEL sequences from Rhinella marina, Bufo gargarizans and Bufo bufo, with nine extant, dentulous frogs, revealed mutations confirming AMEL inactivation in Bufonidae. AMEL pseudogenes in modern bufonids also exhibited remarkably high 86-93% sequence identity among each other, with only a slight increase in substitution rate and relaxation of selective pressure, in comparison with functional copies in other anurans. Moreover, using selection intensity estimates and synonymous substitution rates, analysis of functional and pseudogenized AMEL resulted in an estimated inactivation window of 46-60 million years ago in the lineage leading to modern true toads, a time line that coincides with the rise of the family Bufonidae.

Glenohumeral joint and muscles functions during a lifting task

The mobility of the healthy shoulder depends on complex interactions between the muscles spanning its glenohumeral joint. These interactions ensure the stability of this joint. While previous studies emphasized the complexity of the glenohumeral stability, it is still not clear how the kinematics and muscles interact and adapt to ensure a healthy function of the glenohumeral joint. To understand the function of each muscle and degree of freedom of the glenohumeral joint in executing an above-the shoulder box handling task while ensuring stability, we adapted an index-based approach previously used to characterize the functions of the lower limb joints and muscles during locomotion. Forty participants lifted two loads (6 Vs. 12 kg) from hip to eye level. We computed the mechanical powers of the glenohumeral joint and its spanning muscles. We characterized the function of muscles and degrees of freedom using function indices. The function of the glenohumeral joint underlined its compliancy and design for a large range of motion, while the rotator cuff indices emphasized their stabilizing function. The overall muscle functions underlined the complexity of the glenohumeral stability that goes beyond the rotator cuff. Additionally, the load increase was compensated with changes in the functions that seem to favor joint stability. The implemented approach represents a synthetized tool that could quantify the glenohumeral joint and muscles behavior during tridimensional upper limb tasks, which might offer additional insight into motor control strategies and functional alterations related to pathologies or external parameters (e.g., load).

Thermal robustness of biomechanical processes

Temperature influences many physiological processes that govern life as a result of the thermal sensitivity of chemical reactions. The repeated evolution of endothermy and widespread behavioral thermoregulation in animals highlight the importance of elevating tissue temperature to increase the rate of chemical processes. Yet, movement performance that is robust to changes in body temperature has been observed in numerous species. This thermally robust performance appears exceptional in light of the well-documented effects of temperature on muscle contractile properties, including shortening velocity, force, power and work. Here, we propose that the thermal robustness of movements in which mechanical processes replace or augment chemical processes is a general feature of any organismal system, spanning kingdoms. The use of recoiling elastic structures to power movement in place of direct muscle shortening is one of the most thoroughly studied mechanical processes; using these studies as a basis, we outline an analytical framework for detecting thermal robustness, relying on the comparison of temperature coefficients (Q ₁₀ values) between chemical and mechanical processes. We then highlight other biomechanical systems in which thermally robust performance that arises from mechanical processes may be identified using this framework. Studying diverse movements in the context of temperature will both reveal mechanisms underlying performance and allow the prediction of changes in performance in response to a changing thermal environment, thus deepening our understanding of the thermal ecology of many organisms.

Bladderworts, the smallest known suction feeders, generate inertia-dominated flows to capture prey

Aquatic bladderworts (Utricularia gibba and U. australis) capture zooplankton in mechanically triggered underwater traps. With characteristic dimensions less than 1 mm, the trapping structures are among the smallest known to capture prey by suction, a mechanism that is not effective in the creeping-flow regime where viscous forces prevent the generation of fast and energy-efficient suction flows. To understand what makes suction feeding possible on the small scale of bladderwort traps, we characterised their suction flows experimentally (using particle image velocimetry) and mathematically (using computational fluid dynamics and analytical mathematical models). We show that bladderwort traps avoid the adverse effects of creeping flow by generating strong, fast-onset suction pressures. Our findings suggest that traps use three morphological adaptations: the trap walls' fast release of elastic energy ensures strong and constant suction pressure; the trap door's fast opening ensures effectively instantaneous onset of suction; the short channel leading into the trap ensures undeveloped flow, which maintains a wide effective channel diameter. Bladderwort traps generate much stronger suction flows than larval fish with similar gape sizes because of the traps' considerably stronger suction pressures. However, bladderworts' ability to generate strong suction flows comes at considerable energetic expense.

Fatigue resistant jaw muscles facilitate long-lasting courtship behaviour in the southern alligator lizard (Elgaria multicarinata)

The southern alligator lizard (Elgaria multicarinata) exhibits a courtship behaviour during which the male firmly grips the female's head in his jaws for many hours at a time. This extreme behaviour counters the conventional wisdom that reptilian muscle is incapable of powering high-endurance behaviours. We conducted in situ experiments in which the jaw-adductor muscles of lizards were stimulated directly while bite force was measured simultaneously. Fatigue tests were performed by stimulating the muscles with a series of tetanic trains. Our results show that a substantial sustained force gradually develops during the fatigue test. This sustained force persists after peak tetanic forces have declined to a fraction of their initial magnitude. The observed sustained force during in situ fatigue tests is consistent with the courtship behaviour of these lizards and probably reflects physiological specialization. The results of molecular analysis reveal that the jaw muscles contain masticatory and tonic myosin fibres. We propose that the presence of tonic fibres may explain the unusual sustained force properties during mate-holding behaviour. The characterization of muscle properties that facilitate extreme performance during specialized behaviours may reveal general mechanisms of muscle function, especially when done in light of convergently evolved systems exhibiting similar performance characteristics.

N2A Titin: Signaling Hub and Mechanical Switch in Skeletal Muscle

Since its belated discovery, our understanding of the giant protein titin has grown exponentially from its humble beginning as a sarcomeric scaffold to recent recognition of its critical mechanical and signaling functions in active muscle. One uniquely useful model to unravel titin’s functions, muscular dystrophy with myositis (mdm), arose spontaneously in mice as a transposon-like LINE repeat insertion that results in a small deletion in the N2A region of titin. This small deletion profoundly affects hypertrophic signaling and muscle mechanics, thereby providing insights into the function of this specific region and the consequences of its dysfunction. The impact of this mutation is profound, affecting diverse aspects of the phenotype including muscle mechanics, developmental hypertrophy, and thermoregulation. In this review, we explore accumulating evidence that points to the N2A region of titin as a dynamic “switch” that is critical for both mechanical and signaling functions in skeletal muscle. Calcium-dependent binding of N2A titin to actin filaments triggers a cascade of changes in titin that affect mechanical properties such as elastic energy storage and return, as well as hypertrophic signaling. The mdm phenotype also points to the existence of as yet unidentified signaling pathways for muscle hypertrophy and thermoregulation, likely involving titin’s PEVK region as well as the N2A signalosome.

Elastic recoil action amplifies jaw closing speed in an aquatic feeding salamander

Tendon springs often influence locomotion by amplifying the speed and power of limb joint rotation. However, less is known about elastic recoil action in feeding systems, particularly for small aquatic animals. Here, we ask if elastic recoil amplifies the speed of gape closing during aquatic food processing in the Axolotl (Ambystoma mexicanum). We measure activation of the adductor mandibulae externus via electromyography and strain of the jaw adductor muscle-tendon unit (MTU), and gape kinematics via fluoromicrometry. The muscle is pre-activated coincident with gape opening, which causes MTU stretch. Activation lasts significantly shorter for fish than cricket processing, and muscle shortening during MTU lengthening yields significantly greater elastic strain for cricket processing. The speed of MTU shortening, which dictates the speed of gape closing is 2.5-4.4 times greater than the speed of the initial shortening of the muscle fascicles for fish and cricket gape cycles, respectively. These data demonstrate a clear role for elastic recoil, which may be unexpected for a MTU in a feeding system of a small, aquatic animal. Amplification of jaw-closing speed resulting from elastic recoil likely confers ecological advantages in reducing prey escape risks during food processing in a dense and viscous fluid environment.

In vitro virtual reality: an anatomically explicit musculoskeletal simulation powered by in vitro muscle using closed-loop tissue-software interaction

Muscle force-length dynamics are governed by intrinsic contractile properties, motor stimulation and mechanical load. Although intrinsic properties are well characterised, physiologists lack in vitro instrumentation to account for combined effects of limb inertia, musculoskeletal architecture and contractile dynamics. We introduce in vitro virtual reality (in vitro-VR) which enables in vitro muscle tissue to drive a musculoskeletal jumping simulation. In hardware, muscle force from a frog plantaris was transmitted to a software model where joint torques, inertia and ground reaction forces were computed to advance the simulation at 1 kHz. To close the loop, simulated muscle strain was returned to update in vitro length. We manipulated (1) stimulation timing and (2) the virtual muscle's anatomical origin. This influenced interactions among muscular, inertial, gravitational and contact forces dictating limb kinematics and jump performance. We propose that in vitro-VR can be used to illustrate how neuromuscular control and musculoskeletal anatomy influence muscle dynamics and biomechanical performance.

Modeling the Determinants of Mechanical Advantage During Jumping: Consequences for Spring- and Muscle-Driven Movement

Systems powered by elastic recoil need a latch to prevent motion while a spring is loaded but allow motion during spring recoil. Some jumping animals that rely on elastic recoil use the increasing mechanical advantage of limb extensor muscles to accomplish latching. We examined the ways in which limb morphology affects latching and the resulting performance of an elastic-recoil mechanism. Additionally, because increasing mechanical advantage is a consequence of limb extension that may be found in many systems, we examined the mechanical consequences for muscle in the absence of elastic elements. By simulating muscle contractions against a simplified model of an extending limb, we found that increasing mechanical advantage can limit the work done by muscle by accelerating muscle shortening during limb extension. The inclusion of a series elastic element dramatically improves mechanical output by allowing for additional muscle work that is stored and released from the spring. This suggests that elastic recoil may be beneficial for more animals than expected when assuming peak isotonic power output from muscle during jumping. The mechanical output of elastic recoil depends on limb morphology; long limbs moving small loads maximize total work, but it is done at a low power, whereas shorter limbs moving larger loads do less work at a higher power. This work-power trade-off of limb morphology is true with or without an elastic element. Systems with relatively short limbs may have performance that is robust to variable conditions such as body mass or muscle activation, while long-limbed systems risk complete failure with relatively minor perturbations. Finally, a changing mechanical advantage latch allows for muscle work to be done simultaneously with spring recoil, changing the predictions for spring mechanical properties. Overall, the design constraints revealed by considering the mechanics of this particular latch will inform our understanding of the evolution of elastic-recoil mechanisms and our attempts to engineer similar systems.

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.

Loading Rate Has Little Influence on Tendon Fascicle Mechanics

Mechanically, tendons behave like springs and store energy by stretching in proportion to applied stress. This relationship is potentially modified by the rate at which stress is applied, a phenomenon known as viscosity. Viscoelasticity, the combined effects of elasticity and viscosity, can affect maximum strain, the amount of stored energy, and the proportion of energy recovered (resilience). Previous studies of tendons have investigated the functional effects of viscoelasticity, but not at the intermediate durations of loading that are known to occur in fast locomotor events. In this study, we isolated tendon fascicles from rat tails and performed force-controlled tensile tests at rates between ∼10 MPa s^–1 to ∼80 MPa s^–1. At high rates of applied stress, we found that tendon fascicles strained less, stored less energy, and were more resilient than at low rates of stress (p = 0.007, p = 0.040, and p = 0.004, respectively). The measured changes, however, were very small across the range of strain rates studied. For example, the average strain for the slowest loading rate was 0.637% while it was 0.614% for the fastest loading. We conclude that although there is a measurable effect of loading rate on tendon mechanics, the effect is small and can be largely ignored in the context of muscle-actuated locomotion, with the possible exception of extreme muscle-tendon morphologies.

Hurry Up and Get Out of the Way! Exploring the Limits of Muscle-Based Latch Systems for Power Amplification

Animals can amplify the mechanical power output of their muscles as they jump to escape predators or strike to capture prey. One mechanism for amplification involves muscle-tendon unit (MT) systems in which a spring element (series elastic element [SEE]) is pre-stretched while held in place by a "latch" that prevents immediate transmission of muscle (or contractile element, CE) power to the load. In principle, this storage phase is followed by a triggered release of the latch, and elastic energy released from the SEE enables power amplification (PRATIO=PLOAD/PCE,max >1.0), whereby the peak power delivered from MT to the load exceeds the maximum power limit of the CE in isolation. Latches enable power amplification by increasing the muscle work generated during storage and reducing the duration over which that stored energy is released to power a movement. Previously described biological "latches" include: skeletal levers, anatomical triggers, accessory appendages, and even antagonist muscles. In fact, many species that rely on high-powered movements also have a large number of muscles arranged in antagonist pairs. Here, we examine whether a decaying antagonist force (e.g., from a muscle) could be useful as an active latch to achieve controlled energy transmission and modulate peak output power. We developed a computer model of a frog hindlimb driven by a compliant MT. We simulated MT power generated against an inertial load in the presence of an antagonist force "latch" (AFL) with relaxation time varying from very fast (10 ms) to very slow (1000 ms) to mirror physiological ranges of antagonist muscle. The fastest AFL produced power amplification (PRATIO=5.0) while the slowest AFL produced power attenuation (PRATIO=0.43). Notably, AFLs with relaxation times shorter than ∼300 ms also yielded greater power amplification (PRATIO>1.20) than the system driving the same inertial load using only an agonist MT without any AFL. Thus, animals that utilize a sufficiently fast relaxing AFL ought to be capable of achieving greater power output than systems confined to a single agonist MT tuned for maximum PRATIO against the same load.

Calcium-dependent titin-thin filament interactions in muscle: observations and theory

Gaps in our understanding of muscle mechanics demonstrate that the current model is incomplete. Increasingly, it appears that a role for titin in active muscle contraction might help to fill these gaps. While such a role for titin is increasingly accepted, the underlying molecular mechanisms remain unclear. The goals of this paper are to review recent studies demonstrating Ca²⁺-dependent interactions between N2A titin and actin in vitro, to explore theoretical predictions of muscle behavior based on this interaction, and to review experimental data related to the predictions. In a recent study, we demonstrated that Ca²⁺ increases the association constant between N2A titin and F-actin; that Ca²⁺ increases rupture forces between N2A titin and F-actin; and that Ca²⁺ and N2A titin reduce sliding velocity of F-actin and reconstituted thin filaments in motility assays. Preliminary data support a role for Ig83, but other Ig domains in the N2A region may also be involved. Two mechanical consequences are inescapable if N2A titin binds to thin filaments in active muscle sarcomeres: (1) the length of titin's freely extensible I-band should decrease upon muscle activation; and (2) binding between N2A titin and thin filaments should increase titin stiffness in active muscle. Experimental observations demonstrate that these properties characterize wild type muscles, but not muscles from mdm mice with a small deletion in N2A titin, including part of Ig83. Given the new in vitro evidence for Ca²⁺-dependent binding between N2A titin and actin, it is time for skepticism to give way to further investigation.

Body stiffness and damping depend sensitively on the timing of muscle activation in lampreys

Unlike most manmade machines, animals move through their world using flexible bodies and appendages, which bend due to internal muscle and body forces, and also due to forces from the environment. Fishes in particular must cope with fluid dynamic forces that not only resist their overall swimming movements but also may have unsteady flow patterns, vortices, and turbulence, many of which occur more rapidly than what the nervous system can process. Has natural selection led to mechanical properties of fish bodies and their component tissues that can respond very quickly to environmental perturbations? Here, we focus on the mechanical properties of isolated muscle tissue and of the entire intact body in the silver lamprey, Ichthyomyzon unicuspis. We developed two modified work loop protocols to determine the effect of small perturbations on the whole body and on isolated segments of muscle as a function of muscle activation and phase within the swimming cycle. First, we examined how the mechanical properties of the whole lamprey body change depending on the timing of muscle activity. Relative to passive muscle, muscle activation can modulate the effective stiffness by about two-fold and modulate the effective damping by >10-fold depending on the activation phase. Next, we performed a standard work loop test on small sections of axial musculature while adding low-amplitude sinusoidal perturbations at specific frequencies. We modeled the data using a new system identification technique based on time-periodic system analysis and harmonic transfer functions (HTFs) and used the resulting models to predict muscle function under novel conditions. We found that the effective stiffness and damping of muscle varies during the swimming cycle, and that the timing of activation can alter both the magnitude and timing of peak stiffness and damping. Moreover, the response of the isolated muscle was highly nonlinear and length dependent, but the body's response was much more linear. We applied the resulting HTFs from our experiments to explore the effect of pairs of antagonistic muscles. The results suggest that when muscles work against each other as antagonists, the combined system has weaker nonlinearities than either muscle segment alone. Together, these results begin to provide an integrative understanding of how activation timing can tune the mechanical response properties of muscles, enabling fish to swim effectively in their complex and unpredictable environment.

The Effect of the Stretch-Shortening Cycle in the Force-Velocity Relationship and Its Association With Physical Function in Older Adults With COPD

This study aimed to evaluate the effect of the stretch-shortening cycle (SSC) on different portions of the force–velocity (F–V) relationship in older adults with and without chronic obstructive pulmonary disease (COPD), and to assess its association with physical function. The participants were 26 older adults with COPD (79 ± 7 years old; FEV₁ = 53 ± 36% of predicted) and 10 physically active non-COPD (77 ± 4 years old) older adults. The F–V relationship was evaluated in the leg press exercise during a purely concentric muscle action and compared with that following an eccentric muscle action at 10% intervals of maximal unloaded shortening velocity (V₀). Vastus lateralis (VL) muscle thickness, pennation angle (PA), and fascicle length (FL) were assessed by ultrasound. Habitual gait speed was measured over a 4-m distance. COPD subjects exhibited lower physical function and concentric maximal muscle power (P_max) values compared with the non-COPD group (both p < 0.05). The SSC increased force and power values among COPD participants at 0–100 and 1–100% of V₀, respectively, while the same was observed among non-COPD participants only at 40–90 and 30–90% of V₀, respectively (all p < 0.05). The SSC induced greater improvements in force, but not power, among COPD compared with non-COPD subjects between 50 and 70% of V₀ (all p < 0.05). Thus, between-group differences in muscle power were not statistically significant after the inclusion of the SSC (p > 0.05). The SSC-induced potentiation at 50–100% of V₀ was negatively associated with physical function (r = -0.40–0.50), while that observed at 80–100% of V₀ was negatively associated with VL muscle thickness and PA (r = -0.43–0.52) (all p < 0.05). In conclusion, older adults with COPD showed a higher SSC-induced potentiation compared with non-COPD subjects, which eliminated between-group differences in muscle power when performing SSC muscle actions. The SSC-induced potentiation was associated with lower physical function, VL muscle thickness, and VL PA values. The SSC-induced potentiation may help as a compensatory mechanism in those older subjects with a decreased ability to produce force/power during purely concentric muscle actions.

Planthopper bugs use a fast, cyclic elastic recoil mechanism for effective vibrational communication at small body size

Vibrations through substrates are an important source of information for diverse organisms, from nematodes to elephants. The fundamental challenge for small animals using vibrational communication is to move their limited mass fast enough to provide sufficient kinetic energy for effective information transfer through the substrate whilst optimising energy efficiency over repeated cycles. Here, we describe a vibratory organ found across a commercially important group of plant-feeding insects, the planthoppers (Hemiptera: Fulgoromorpha). This elastic recoil snapping organ generates substrate-borne broadband vibrations using fast, cyclical abdominal motion that transfers kinetic energy to the substrate through the legs. Elastic potential energy is stored and released twice using two different latched energy-storage mechanisms, each utilising a different form of elastic recoil to increase the speed of motion. Comparison to the acoustic tymbal organ of cicadas (Hemiptera: Cicadomorpha) reveals functional convergence in their use of elastic mechanisms to increase the efficacy of mechanical communication.

Planthopper insects produce fast abdominal twerks for vibrational communication through the substrate, employing a novel vibratory organ that uses two reciprocal elastic recoil mechanisms to generate fast cyclical motion.

Animals use substrate-borne vibrations for eavesdropping and communication over an immense range of body size—from elephants to nematodes. Vibrational communication is especially challenging for small animals because of the high mechanical power that is needed to transmit information effectively over extended distances through a substrate. Here, we show that planthoppers, a commercially important group of insects, produce vibrations for communication using a reciprocal elastic recoil mechanism that proves remarkably effective at small body size. By combining morphological and biomechanical analyses of a previously overlooked vibratory organ on the abdomen, we show that planthoppers use fast, cyclical abdominal motions to generate substrate-borne vibrations. This novel, to our knowledge, mechanism, which we term the snapping organ, makes use of slow energy storage and fast elastic recoil twice during each cycle of motion, involving two distinct elastic elements. This cyclical mechanism allows planthoppers to transmit signal pulses containing a broad range of frequencies to the substrate. The mechanism is efficient, achieving fast cyclical motion without relying on high muscle power and mass, both of which are limited for animals of small size. The snapping organ is ubiquitous across planthoppers and presents an interesting example of how elastic mechanisms can be used to enable nonacoustic vibrational communication between animals.

Enhancement of muscle and locomotor performance by a series compliance: A mechanistic simulation study

The objective was to better understand how a series compliance alters contraction kinetics and power output of muscle to enhance the work done on a load. A mathematical model was created in which a gravitational point load was connected via a linear spring to a muscle (based on the contractile properties of the sartorius of leopard frogs, Rana pipiens). The model explored the effects of load mass, tendon compliance, and delay between onset of contraction and release of the load (catch) on lift height and power output as measures of performance. Series compliance resulted in increased lift height over a relatively narrow range of compliances, and the effect was quite modest without an imposed catch mechanism unless the load was unrealistically small. Peak power of the muscle-tendon complex could be augmented up to four times that produced with a muscle alone, however, lift height was not predicted by peak power. Rather, lift height was improved as a result of the compliance synchronizing the time courses of muscle force and shortening velocity, in particular by stabilizing shortening velocity such that muscle power was sustained rather than rising and immediately falling. With a catch mechanism, enhanced performance resulted largely from energy storage in the compliance during the period of catch, rather than increased time for muscle activation before movement commenced. However, series compliance introduced a trade-off between work done before versus after release of the catch. Thus, the ability of tendons to enhance locomotor performance (i.e. increase the work done by muscle) appears dependent not only on their established role in storing energy and increasing power, but also on their ability to modulate the kinetics of muscle contraction such that power is sustained over more of the contraction, and maximizing the balance of work done before versus after release of a catch.

Function of the hypobranchial muscles and hyoidiomandibular ligament during suction capture and bite processing in white-spotted bamboo sharks, Chiloscyllium plagiosum

Suction feeding in teleost fish is a power-dependent behavior, requiring rapid and forceful expansion of the orobranchial cavity by the hypobranchial and trunk muscles. To increase power production for expansion, many species employ in-series tendons and catch mechanisms to store and release elastic strain energy. Suction feeding sharks such as Chiloscyllium plagiosum lack large in-series tendons on the hypobranchials, yet two of the hypobranchials, the coracohyoideus and coracoarcualis (CH and CA; hyoid depressors), are arranged in-series, and run deep and parallel to a third muscle, the coracomandibularis (CM, jaw depressor). The arrangement of the CH and CA suggests that C. plagiosum is using the CH muscle rather than a tendon to store and release elastic strain energy. Here we describe the anatomy of the feeding apparatus, and present data on hyoid and jaw kinematics and fascicle shortening in the CM, CH and CA quantified using sonomicrometry, with muscle activity and buccal pressure recorded simultaneously. Results from prey capture show that prior to jaw and hyoid depression the CH is actively lengthened by shortening of the in-series CA. The active lengthening of the CH and pre-activation of the CH and CA suggest that the CH is functioning to store and release elastic energy during prey capture. Catch mechanisms are proposed involving a dynamic moment arm and four-bar linkage between the hyoidiomandibular ligament (LHML), jaws and ceratohyals that is influenced by the CM. Furthermore, the LHML may be temporarily disengaged during behaviors such as bite processing to release linkage constraints.

Effects of temperature and force requirements on muscle work and power output

Performance of muscle-powered movements depends on temperature through its effects on muscle contractile properties. In vitro stimulation of Cuban treefrog (Osteopilus septentrionalis) plantaris muscles reveals that interactions between force and temperature affect the mechanical work of muscle. At low temperatures (9-17°C), muscle work depends on temperature when shortening at any force, and temperature effects are greater at higher forces. At warmer temperatures (13-21°C), muscle work depends on temperature when shortening with intermediate and high forces (≥30% peak isometric tetanic force). Shortening velocity is most strongly affected by temperature at low temperatures and high forces. Power is also most strongly affected at low temperature intervals, but this effect is minimized at intermediate forces. Effects of temperature on muscle force explain these interactions; force production decreases at lower temperatures, increasing the challenge of moving a constant force relative to the muscle's capacity. These results suggest that animal performance that requires muscles to do work with low forces relative to a muscle's maximum force production will be robust to temperature changes, and this effect should be true whether muscle acts directly or through elastic-recoil mechanisms and whether force is prescribed (i.e. internal) or variable (i.e. external). Conversely, performance requiring muscles to shorten with relatively large forces is expected to be more sensitive to temperature changes.

Rattlesnakes are extremely fast and variable when striking at kangaroo rats in nature: Three-dimensional high-speed kinematics at night

Predation plays a central role in the lives of most organisms. Predators must find and subdue prey to survive and reproduce, whereas prey must avoid predators to do the same. The resultant antagonistic coevolution often leads to extreme adaptations in both parties. Few examples capture the imagination like a rapid strike from a venomous snake. However, almost nothing is known about strike performance of viperid snakes under natural conditions. We obtained high-speed (500 fps) three-dimensional video in the field (at night using infrared lights) of Mohave rattlesnakes (Crotalus scutulatus) attempting to capture Merriam's kangaroo rats (Dipodomys merriami). Strikes occurred from a range of distances (4.6 to 20.6 cm), and rattlesnake performance was highly variable. Missed capture attempts resulted from both rapid escape maneuvers and poor strike accuracy. Maximum velocity and acceleration of some rattlesnake strikes fell within the range of reported laboratory values, but some far exceeded most observations. Thus, quantifying rapid predator-prey interactions in the wild will propel our understanding of animal performance.

Movements of vastly different performance have similar underlying muscle physiology

Many animals use elastic-recoil mechanisms to power extreme movements, achieving levels of performance that would not be possible using muscle power alone. Contractile performance of vertebrate muscle depends strongly on temperature, but the release of energy from elastic structures is far less thermally dependent, thus elastic recoil confers thermal robustness to whole-animal performance. Here we explore the role that muscle contractile properties play in the differences in performance and thermal robustness between elastic and non-elastic systems by examining muscle from two species of plethodontid salamanders that use elastically powered tongue projection to capture prey and one that uses non-elastic tongue projection. In species with elastic mechanisms, tongue projection is characterized by higher mechanical power output and thermal robustness compared with tongue projection of closely related genera with non-elastic mechanisms. In vitro and in situ muscle experiments reveal that species differ in their muscle contractile properties, but these patterns do not predict the performance differences between elastic and non-elastic tongue projection. Overall, salamander tongue muscles are similar to other vertebrate muscles in contractile performance and thermal sensitivity. We conclude that changes in the tongue-projection mechanism, specifically the elaboration of elastic structures, are responsible for high performance and thermal robustness in species with elastic tongue projection. This suggests that the evolution of high-performance and thermally robust elastic-recoil mechanisms can occur via relatively simple changes to morphology, while muscle contractile properties remain relatively unchanged.

Deducing a mechanism of all musculoskeletal injuries

BACKGROUND

The mechanism of musculoskeletal (MSK) injuries is not well understood. This research applies principles of elastic motion to the anatomy and movement patterns of MSK structures. From this an insight into the application and timing of forces on MSK structures can be established and the mechanism/s of injury derived.

METHODS CURRENT KNOWLEDGE

All MSK structures demonstrate varying degrees of elasticity. Movement occurs primarily as a consequence of Muscle Tendon Unit (MTU) shortening. The application of an applied external force results in MSK structure lengthening.

RESULTS

The MTU acts as a non-idealised Hookean Spring. The resting length of MSK structures is the minimum distance between attachment points. The anatomical constraints results in MSK structures having adequate compressive strength during shortening. Thus MSK injuries only occur during lengthening of the MSK structure. From this with knowledge of MSK movement cycles, we can derive the mechanism of injury.

CONCLUSIONS

MSK injuries result from an inability to counter applied forces whilst lengthening. Muscles, tendons and ligaments can only injure during their lengthening contraction phase. Insertional tendons and bone near attachment points injure during the MTU shortening phase. Injuries to other MSK structures can occur independent of the lengthening and shortening phases such as direct contact injuries.

Adaptive and Energy Efficient Walking in a Hexapod Robot Under Neuromechanical Control and Sensorimotor Learning

The control of multilegged animal walking is a neuromechanical process, and to achieve this in an adaptive and energy efficient way is a difficult and challenging problem. This is due to the fact that this process needs in real time: 1) to coordinate very many degrees of freedom of jointed legs; 2) to generate the proper leg stiffness (i.e., compliance); and 3) to determine joint angles that give rise to particular positions at the endpoints of the legs. To tackle this problem for a robotic application, here we present a neuromechanical controller coupled with sensorimotor learning. The controller consists of a modular neural network for coordinating 18 joints and several virtual agonist-antagonist muscle mechanisms (VAAMs) for variable compliant joint motions. In addition, sensorimotor learning, including forward models and dual-rate learning processes, is introduced for predicting foot force feedback and for online tuning the VAAMs' stiffness parameters. The control and learning mechanisms enable the hexapod robot advanced mobility sensor driven-walking device (AMOS) to achieve variable compliant walking that accommodates different gaits and surfaces. As a consequence, AMOS can perform more energy efficient walking, compared to other small legged robots. In addition, this paper also shows that the tight combination of neural control with tunable muscle-like functions, guided by sensory feedback and coupled with sensorimotor learning, is a way forward to better understand and solve adaptive coordination problems in multilegged locomotion.

Contribution of elastic tissues to the mechanics and energetics of muscle function during movement

Muscle force production occurs within an environment of tissues that exhibit spring-like behavior, and this elasticity is a critical determinant of muscle performance during locomotion. Muscle force and power output both depend on the speed of contraction, as described by the isotonic force-velocity curve. By influencing the speed of contractile elements, elastic structures can have a profound effect on muscle force, power and work. In very rapid movements, elastic mechanisms can amplify muscle power by storing the work of muscle contraction slowly and releasing it rapidly. When energy must be dissipated rapidly, such as in landing from a jump, energy stored rapidly in elastic elements can be released more slowly to stretch muscle contractile elements, reducing the power input to muscle and possibly protecting it from damage. Elastic mechanisms identified so far rely primarily on in-series tendons, but many structures within muscles exhibit spring-like properties. Actomyosin cross-bridges, actin and myosin filaments, titin, and the connective tissue scaffolding of the extracellular matrix all have the potential to store and recover elastic energy during muscle contraction. The potential contribution of these elements can be assessed from their stiffness and estimates of the strain they undergo during muscle function. Such calculations provide boundaries for the possible roles these springs might play in locomotion, and may help to direct future studies of the uses of elastic elements in muscle.

Shooting Mechanisms in Nature: A Systematic Review

BACKGROUND

In nature, shooting mechanisms are used for a variety of purposes, including prey capture, defense, and reproduction. This review offers insight into the working principles of shooting mechanisms in fungi, plants, and animals in the light of the specific functional demands that these mechanisms fulfill.

METHODS

We systematically searched the literature using Scopus and Web of Knowledge to retrieve articles about solid projectiles that either are produced in the body of the organism or belong to the body and undergo a ballistic phase. The shooting mechanisms were categorized based on the energy management prior to and during shooting.

RESULTS

Shooting mechanisms were identified with projectile masses ranging from 1·10-9 mg in spores of the fungal phyla Ascomycota and Zygomycota to approximately 10,300 mg for the ballistic tongue of the toad Bufo alvarius. The energy for shooting is generated through osmosis in fungi, plants, and animals or muscle contraction in animals. Osmosis can be induced by water condensation on the system (in fungi), or water absorption in the system (reaching critical pressures up to 15.4 atmospheres; observed in fungi, plants, and animals), or water evaporation from the system (reaching up to -197 atmospheres; observed in plants and fungi). The generated energy is stored as elastic (potential) energy in cell walls in fungi and plants and in elastic structures in animals, with two exceptions: (1) in the momentum catapult of Basidiomycota the energy is stored in a stalk (hilum) by compression of the spore and droplets and (2) in Sphagnum energy is mainly stored in compressed air. Finally, the stored energy is transformed into kinetic energy of the projectile using a catapult mechanism delivering up to 4,137 J/kg in the osmotic shooting mechanism in cnidarians and 1,269 J/kg in the muscle-powered appendage strike of the mantis shrimp Odontodactylus scyllarus. The launch accelerations range from 6.6g in the frog Rana pipiens to 5,413,000g in cnidarians, the launch velocities from 0.1 m/s in the fungal phylum Basidiomycota to 237 m/s in the mulberry Morus alba, and the launch distances from a few thousands of a millimeter in Basidiomycota to 60 m in the rainforest tree Tetraberlinia moreliana. The mass-specific power outputs range from 0.28 W/kg in the water evaporation mechanism in Basidiomycota to 1.97·109 W/kg in cnidarians using water absorption as energy source.

DISCUSSION AND CONCLUSIONS

The magnitude of accelerations involved in shooting is generally scale-dependent with the smaller the systems, discharging the microscale projectiles, generating the highest accelerations. The mass-specific power output is also scale dependent, with smaller mechanisms being able to release the energy for shooting faster than larger mechanisms, whereas the mass-specific work delivered by the shooting mechanism is mostly independent of the scale of the shooting mechanism. Higher mass-specific work-values are observed in osmosis-powered shooting mechanisms (≤ 4,137 J/kg) when compared to muscle-powered mechanisms (≤ 1,269 J/kg). The achieved launch parameters acceleration, velocity, and distance, as well as the associated delivered power output and work, thus depend on the working principle and scale of the shooting mechanism.

Off like a shot: scaling of ballistic tongue projection reveals extremely high performance in small chameleons

Stretching elastic tissues and using their recoil to power movement allows organisms to release energy more rapidly than by muscle contraction directly, thus amplifying power output. Chameleons employ such a mechanism to ballistically project their tongue up to two body lengths, achieving power outputs nearly three times greater than those possible via muscle contraction. Additionally, small organisms tend to be capable of greater performance than larger species performing similar movements. To test the hypothesis that small chameleon species outperform larger species during ballistic tongue projection, performance was examined during feeding among 20 chameleon species in nine genera. This revealed that small species project their tongues proportionately further than large species, achieving projection distances of 2.5 body lengths. Furthermore, feedings with peak accelerations of 2,590 m s(-2), or 264 g, and peak power output values of 14,040 W kg(-1) are reported. These values represent the highest accelerations and power outputs reported for any amniote movement, highlighting the previously underestimated performance capability of the family. These findings show that examining movements in smaller animals may expose movements harbouring cryptic power amplification mechanisms and illustrate how varying metabolic demands may help drive morphological evolution.

Thermal sensitivity of motor control of muscle-powered versus elastically powered tongue projection in salamanders

Elastic-recoil mechanisms can improve organismal performance and circumvent the thermal limitations of muscle contraction, yet they require the appropriate motor control to operate. We compare muscle activity during tongue projection in salamanders with elastically powered, ballistic projection to those with muscle-powered, non-ballistic projection across a range of temperatures to understand how motor control is integrated with elastically powered movements, and how this integration contributes to reduced thermal sensitivity. Species with ballistic tongue projection activated and deactivated their projector muscles significantly earlier than non-ballistic species, in a pattern consistent with a mechanism in which the muscle strains elastic tissue that subsequently recoils to power projection. Tongue projection was more thermally robust in ballistic species, but in both ballistic and non-ballistic species the projector muscles were activated earlier and for longer as temperature decreased. The retractor muscles showed a similar pattern as the projector muscles, but declined in a similar manner in the two groups. Muscle activity intensity also decreased at low temperatures in both groups, revealing that compensatory muscle activation does not account for the improved thermal robustness in ballistic species. Thus, relatively minor shifts in motor patterns accompanying morphological changes such as increased elastic tissue are sufficient to improve performance and decrease its thermal sensitivity without specialization of muscle contractile physiology.

Effects of activation on the elastic properties of intact soleus muscles with a deletion in titin

Titin has long been known to contribute to muscle passive tension. Recently, it was also demonstrated that titin-based stiffness increases upon Ca2+-activation of wildtype mouse psoas myofibrils stretched beyond overlap of the thick and thin filaments. In addition, this increase in titin-based stiffness upon activation was impaired in single psoas myofibrils from mdm mice with a deletion in titin. Here, we investigate the effects of muscle activation on elastic properties of intact soleus muscles from wildtype and mdm mice to determine whether titin may contribute to active muscle stiffness. Using load-clamp experiments, we compared the stress-strain relationships of elastic elements in active and passive muscles during unloading, and quantified the change in stiffness upon activation. We used the mdm mutation, characterized by a deletion in the N2A region of the Ttn gene, to test the hypothesis that titin contributes to active muscle stiffness. Results show that the elastic modulus of wildtype muscles increases upon activation. Elastic elements began to develop force at lengths that were 15% shorter in active than in passive soleus, and there was a 2.9-fold increase in the slope of the stress - strain relationship. In contrast, mdm soleus showed no effect of activation on the slope or intercept of the stress - strain relationship. These results from intact soleus muscles are qualitatively and quantitatively similar to results from single wildtype psoas myofibrils stretched beyond overlap of the thick and thin filaments. Therefore, it is likely that titin plays a role in the increase of stiffness during rapid unloading that we observed in intact soleus muscles upon activation. The results from intact mdm soleus muscles are also consistent with impaired titin activation observed in single mdm psoas myofibrils stretched beyond filament overlap, further suggesting that the mechanism of titin activation is impaired in skeletal muscles from mdm mice. These results are consistent with the idea that, in addition to the thin filaments, titin is activated upon Ca2+-influx in skeletal muscle.

Feed-forward motor control of ultrafast, ballistic movements

To circumvent the limits of muscle, ultrafast movements achieve high power through the use of springs and latches. The time scale of these movements is too short for control through typical neuromuscular mechanisms, thus ultrafast movements are either invariant or controlled prior to movement. We tested whether mantis shrimp (Stomatopoda: Neogonodactylus bredini) vary their ultrafast smashing strikes and, if so, how this control is achieved prior to movement. We collected high-speed images of strike mechanics and electromyograms of the extensor and flexor muscles that control spring compression and latch release. During spring compression, lateral extensor and flexor units were co-activated. The strike initiated several milliseconds after the flexor units ceased, suggesting that flexor activity prevents spring release and determines the timing of strike initiation. We used linear mixed models and Akaike's information criterion to serially evaluate multiple hypotheses for control mechanisms. We found that variation in spring compression and strike angular velocity were statistically explained by spike activity of the extensor muscle. The results show that mantis shrimp can generate kinematically variable strikes and that their kinematics can be changed through adjustments to motor activity prior to the movement, thus supporting an upstream, central-nervous-system-based control of ultrafast movement. Based on these and other findings, we present a shishiodoshi model that illustrates alternative models of control in biological ballistic systems. The discovery of feed-forward control in mantis shrimp sets the stage for the assessment of targets, strategic variation in kinematics and the role of learning in ultrafast animals.

Power amplification in an isolated muscle-tendon unit is load dependent

During rapid movements, tendons can act like springs, temporarily storing work done by muscles and then releasing it to power body movements. For some activities, such as frog jumping, energy is released from tendon much more rapidly than it is stored, thus amplifying muscle power output. The period during which energy is loaded into a tendon by muscle work may be aided by a catch mechanism that restricts motion, but theoretical studies indicate that power can be amplified in a muscle-tendon load system even in the absence of a catch. To explore the limits of power amplification with and without a catch, we studied the bullfrog plantaris muscle-tendon during in vitro contractions. A novel servomotor controller allowed us to measure muscle-tendon unit (MTU) mechanical behavior during contractions against a variety of simulated inertial-gravitational loads, ranging from zero to 1× the peak isometric force of the muscle. Power output of the MTU system was load dependent and power amplification occurred only at intermediate loads, reaching ∼1.3× the peak isotonic power output of the muscle. With a simulated anatomical catch mechanism in place, the highest power amplification occurred at the lowest loads, with a maximum amplification of more than 4× peak isotonic muscle power. At higher loads, the benefits of a catch for MTU performance diminished sharply, suggesting that power amplification >2.5× may come at the expense of net mechanical work delivered to the load.

Frog tongue acts as muscle-powered adhesive tape

Frogs are well known to capture fast-moving prey by flicking their sticky tongues out of the mouth. This tongue projection behaviour happens extremely fast which makes frog tongues a biological high-speed adhesive system. The processes at the interface between tongue and prey, and thus the mechanism of adhesion, however, are completely unknown. Here, we captured the contact mechanics of frog tongues by filming tongue adhesion at 2000 frames per second through an illuminated glass. We found that the tongue rolls over the target during attachment. However, during the pulling phase, the tongue retractor muscle acts perpendicular to the target surface and thus prevents peeling during tongue retraction. When the tongue detaches, mucus fibrils form between the tongue and the target. Fibrils commonly occur in pressure-sensitive adhesives, and thus frog tongues might be a biological analogue to these engineered materials. The fibrils in frog tongues are related to the presence of microscopic papillae on the surface. Together with a layer of nanoscale fibres underneath the tongue epithelium, these surface papillae will make the tongue adaptable to asperities. For the first time, to the best of our knowledge, we are able to integrate anatomy and function to explain the processes during adhesion in frog tongues.

Shiver me titin! Elucidating titin's role in shivering thermogenesis

Shivering frequency scales predictably with body mass and is 10 times higher in a mouse than a moose. The link between shivering frequency and body mass may lie in the tuning of muscle elastic properties. Titin functions as a muscle ‘spring’, so shivering frequency may be linked to titin's structure. The muscular dystrophy with myositis (mdm) mouse is characterized by a deletion in titin's N2A region. Mice that are homozygous for the mdm mutation have a lower body mass, stiffer gait and reduced lifespan compared with their wild-type and heterozygous siblings. We characterized thermoregulation in these mice by measuring metabolic rate and tremor frequency during shivering. Mutants were heterothermic at ambient temperatures of 20–37°C while wild-type and heterozygous mice were homeothermic. Metabolic rate increased at smaller temperature differentials (i.e. the difference between body and ambient temperatures) in mutants than in non-mutants. The difference between observed tremor frequencies and shivering frequencies predicted by body mass was significantly larger for mutant mice than for wild-type or heterozygous mice, even after accounting for differences in body temperature. Together, the heterothermy in mutants, the increase in metabolic rate at low temperature differentials and the decreased tremor frequency demonstrate the thermoregulatory challenges faced by mice with the mdm mutation. Oscillatory frequency is proportional to the square root of stiffness, and we observed that mutants had lower active muscle stiffness in vitro. The lower tremor frequencies in mutants are consistent with reduced active muscle stiffness and suggest that titin affects the tuning of shivering frequency.

New insights into muscle function during pivot feeding in seahorses

Seahorses, pipefish and their syngnathiform relatives are considered unique amongst fishes in using elastic recoil of post-cranial tendons to pivot the head extremely quickly towards small crustacean prey. It is known that pipefish activate the epaxial muscles for a considerable time before striking, at which rotations of the head and the hyoid are temporarily prevented to allow energy storage in the epaxial tendons. Here, we studied the motor control of this system in seahorses using electromyographic recordings of the epaxial muscles and the sternohyoideus-hypaxial muscles with simultaneous high-speed video recordings of prey capture. In addition we present the results from a stimulation experiment including the muscle hypothesised to be responsible for the locking and triggering of pivot feeding in seahorses (m. adductor arcus palatini). Our data confirmed that the epaxial pre-activation pattern observed previously for pipefish also occurs in seahorses. Similar to the epaxials, the sternohyoideus-hypaxial muscle complex shows prolonged anticipatory activity. Although a considerable variation in displacements of the mouth via head rotation could be observed, it could not be demonstrated that seahorses have control over strike distance. In addition, we could not identify the source of the kinematic variability in the activation patterns of the associated muscles. Finally, the stimulation experiment supported the previously hypothesized role of the m. adductor arcus palatini as the trigger in this elastic recoil system. Our results show that pre-stressing of both the head elevators and the hyoid retractors is taking place. As pre-activation of the main muscles involved in pivot feeding has now been demonstrated for both seahorses and pipefish, this is probably a generalized trait of Syngnathidae.

Thermal effects on the performance, motor control, and muscle dynamics of ballistic feeding in the salamander Eurycea guttolineata

Temperature strongly affects muscle contractile rate properties and thus may influence whole-organism performance. Movements powered by elastic recoil, however, are known to be more thermally robust than muscle-powered movements. We examined the whole-organism performance, motor control and muscle contractile physiology underlying feeding in the salamander Eurycea guttolineata. We compared elastically powered tongue projection to the associated muscle-powered retraction to determine the thermal robustness of each of these functional levels. We found that tongue-projection distance in Eurycea was unaffected by temperature across the entire 4-26°C range, tongue-projection dynamics were significantly affected by temperature across only the 4-11°C interval, and tongue retraction was affected to a higher degree across the entire temperature range. The significant effect of temperature on projection dynamics across the 4-11°C interval corresponds to a significant decline in projector muscle burst intensity and peak contractile force of the projector muscle across the same interval. Across the remaining temperature range, however, projection dynamics were unaffected by temperature with contractile muscle physiology showing typical thermal effects and motor patterns showing increased activity durations and latencies. These results reveal that elastically powered tongue-projection performance in Eurycea is maintained to a higher degree than muscle-powered tongue retraction performance across a wide temperature range. These results further indicate that thermal robustness of the elastically powered movement is dependent on motor control and muscle physiology that results in comparable energy being stored in elastic tissues across a range of temperatures.

How animals move: comparative lessons on animal locomotion

Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.