Jumping performance of hylid frogs measured with high-speed cine film

Dynamic similarity and the peculiar allometry of maximum running speed

Animal performance fundamentally influences behaviour, ecology, and evolution. It typically varies monotonously with size. A notable exception is maximum running speed; the fastest animals are of intermediate size. Here we show that this peculiar allometry results from the competition between two musculoskeletal constraints: the kinetic energy capacity, which dominates in small animals, and the work capacity, which reigns supreme in large animals. The ratio of both capacities defines the physiological similarity index Γ, a dimensionless number akin to the Reynolds number in fluid mechanics. The scaling of Γ indicates a transition from a dominance of muscle forces to a dominance of inertial forces as animals grow in size; its magnitude defines conditions of "dynamic similarity" that enable comparison and estimates of locomotor performance across extant and extinct animals; and the physical parameters that define it highlight opportunities for adaptations in musculoskeletal "design" that depart from the eternal null hypothesis of geometric similarity. The physiological similarity index challenges the Froude number as prevailing dynamic similarity condition, reveals that the differential growth of muscle and weight forces central to classic scaling theory is of secondary importance for the majority of terrestrial animals, and suggests avenues for comparative analyses of locomotor systems.

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.

Evolution of personality and locomotory performance traits during a late Pleistocene island colonization in a tree frog

Recent empirical and theoretical studies suggest that personality and locomotory performance traits linked to dispersal abilities are crucial components of the dispersal syndromes, and that they can evolve during range expansions and colonization processes. Island colonization is one of the best characterized processes in dispersal biogeography, and its implication in the evolution of phenotypic traits has been investigated over a wide range of temporal scales. However, the effect of island colonization on personality and performance traits of natural populations, and how these traits could drive island colonization, has been little explored. Noteworthy, no studies have addressed these processes in the context of late Pleistocene range expansions. Here, we investigated the contribution of island colonization triggered by postglacial range expansions to intraspecific variation in personality and locomotory performance traits. We compared boldness, exploration, jumping performance, and stickiness abilities in populations from 3 equidistant areas of the Tyrrhenian tree frog Hyla sarda, 2 from the main island (Corsica Island), and 1 from the recently colonized island of Elba. Individuals from Elba were significantly bolder than individuals from Corsica, as they emerged sooner from a shelter (P = 0.028), while individuals from Corsica showed markedly higher jumping and stickiness performance (both P < 0.001), resulting as more performing than those of Elba. We discuss these results in the context of the major microevolutionary processes at play during range expansion, including selection, spatial sorting, founder effects, and their possible interaction with local adaptation processes.

Air-to-land transitions: from wingless animals and plant seeds to shuttlecocks and bio-inspired robots

Recent observations of wingless animals, including jumping nematodes, springtails, insects, and wingless vertebrates like geckos, snakes, and salamanders, have shown that their adaptations and body morphing are essential for rapid self-righting and controlled landing. These skills can reduce the risk of physical damage during collision, minimize recoil during landing, and allow for a quick escape response to minimize predation risk. The size, mass distribution, and speed of an animal determine its self-righting method, with larger animals depending on the conservation of angular momentum and smaller animals primarily using aerodynamic forces. Many animals falling through the air, from nematodes to salamanders, adopt a skydiving posture while descending. Similarly, plant seeds such as dandelions and samaras are able to turn upright in mid-air using aerodynamic forces and produce high decelerations. These aerial capabilities allow for a wide dispersal range, low-impact collisions, and effective landing and settling. Recently, small robots that can right themselves for controlled landings have been designed based on principles of aerial maneuvering in animals. Further research into the effects of unsteady flows on self-righting and landing in small arthropods, particularly those exhibiting explosive catapulting, could reveal how morphological features, flow dynamics, and physical mechanisms contribute to effective mid-air control. More broadly, studying apterygote (wingless insects) landing could also provide insight into the origin of insect flight. These research efforts have the potential to lead to the bio-inspired design of aerial micro-vehicles, sports projectiles, parachutes, and impulsive robots that can land upright in unsteady flow conditions.

Muscle-tendon unit design and tuning for power enhancement, power attenuation, and reduction of metabolic cost

The contractile elements in skeletal muscle fibers operate in series with elastic elements, tendons and potentially aponeuroses, in muscle-tendon units (MTUs). Elastic strain energy (ESE), arising from either work done by muscle fibers or the energy of the body, can be stored in these series elastic elements (SEEs). MTUs vary considerably in their design in terms of the relative lengths and stiffnesses of the muscle fibers and SEEs, and the force and work generating capacities of the muscle fibers. However, within an MTU it is thought that contractile and series elastic elements can be matched or tuned to maximize ESE storage. The use of ESE is thought to improve locomotor performance by enhancing contractile element power during activities such as jumping, attenuating contractile element power during activities such as landing, and reducing the metabolic cost of movement during steady-state activities such as walking and running. The effectiveness of MTUs in these potential roles is contingent on factors such as the source of mechanical energy, the control of the flow of energy, and characteristics of SEE recoil. Hence, we suggest that MTUs specialized for ESE storage may vary considerably in the structural, mechanical, and physiological properties of their components depending on their functional role and required versatility.

Research status and development trend of frog-inspired robots

The frog-inspired robots with amphibious locomotion ability have greatest application prospects and practical value in the fields of resource exploration and environmental reconnaissance. Although frog-inspired robots have been of interest over many years, research on frog-inspired amphibious robots is still in its infancy. Since the locomotion mechanism is the basis for the research of frog-inspired amphibious robots, the research methods of the single motion mechanism of frogs are firstly inductive analyzed, and a reference scheme is proposed to inspire the research on the amphibious motion mechanism. Then, we collect and introduce a systematic discussion of the research status of frog-inspired robots according to the locomotion mode. The characteristics of the robots are analyzed from the aspects of design concept, structural characteristics, driving method, and motion performance. Finally, the technical challenges faced by the research on the frog-inspired robots are analyzed, and the development trend is predicted. The authors hope that this study can provide an informative reference for future research in the direction of frog-inspired amphibious robot.

Muscle preactivation and the limits of muscle power output during jumping in the Cuban tree frog Osteopilus septentrionalis

Previous studies of jumping in frogs have found power outputs in excess of what is possible from direct application of muscle power and concluded that jumping requires the storage and release of elastic strain energy. Of course, the muscles must produce the work required and their power output should be consistent with known muscle properties if the total duration of muscle activity is known. Using the Cuban tree frog, Osteopilus septentrionalis, I measured jumping performance from kinematics and used EMG measurements of three major jumping muscles to determine the duration of muscle activity. Using the total mass of all the hindlimb muscles, muscle mass-specific work output up to 60 J kg-1 was recorded. Distributed over the duration of the jump, both average and peak muscle mass-specific power output increased approximately linearly with the work done, reaching values of over 750 and 2000 W kg-1, respectively. However, the muscles were activated before the jump started. Both preactivation duration and EMG amplitude increased with increasing amounts of work performed. Assuming the muscles could produce work from EMG onset until toe-off, the average muscle mass-specific power over this longer interval also increased with work done, but only up to a work output of 36 J kg-1. The mean power above this value of work was 281 W kg-1, which is approximately 65% of the estimated maximum isotonic power. Several reasons are put forward for suggesting this power output, although within the known properties of the muscles, is nevertheless an impressive achievement.

Engineered jumpers overcome biological limits via work multiplication

For centuries, scientists have explored the limits of biological jump height^1,2, and for decades, engineers have designed jumping machines^3-18 that often mimicked or took inspiration from biological jumpers. Despite these efforts, general analyses are missing that compare the energetics of biological and engineered jumpers across scale. Here we show how biological and engineered jumpers have key differences in their jump energetics. The jump height of a biological jumper is limited by the work its linear motor (muscle) can produce in a single stroke. By contrast, the jump height of an engineered device can be far greater because its ratcheted or rotary motor can 'multiply work' during repeated strokes or rotations. As a consequence of these differences in energy production, biological and engineered jumpers should have divergent designs for maximizing jump height. Following these insights, we created a device that can jump over 30 metres high, to our knowledge far higher than previous engineered jumpers and over an order of magnitude higher than the best biological jumpers. Our work advances the understanding of jumping, shows a new level of performance, and underscores the importance of considering the differences between engineered and biological systems.

Use of compliant actuators for throwing rigid projectiles

Muscles and tendons, actuators in robotics, and various sports implements are examples that exploit elasticity to accelerate objects. Tuning the mechanical properties of elastic elements connecting objects can greatly enhance the transfer of mechanical energy between the objects. Here, we study experimentally the throw of rigid projectiles by an actuator, which has a soft elastic element added to the distal end. We vary the thickness of the elastic layer and suggest a simple mass-spring chain model to find the properties of the elastic layer, which will maximize the energy transfer from the actuator to the projectile. The insertion of a soft layer, impedance matched to the ejection frequency of the projectile mass, can increase the throwing efficiency by over 400%. Finally, we identify that very thick and very soft compliant layers could potentially lead to high efficiency and flexibility simultaneously.

Beyond power amplification: latch-mediated spring actuation is an emerging framework for the study of diverse elastic systems

Rapid biological movements, such as the extraordinary strikes of mantis shrimp and accelerations of jumping insects, have captivated generations of scientists and engineers. These organisms store energy in elastic structures (e.g. springs) and then rapidly release it using latches, such that movement is driven by the rapid conversion of stored elastic to kinetic energy using springs, with the dynamics of this conversion mediated by latches. Initially drawn to these systems by an interest in the muscle power limits of small jumping insects, biologists established the idea of power amplification, which refers both to a measurement technique and to a conceptual framework defined by the mechanical power output of a system exceeding muscle limits. However, the field of fast elastically driven movements has expanded to encompass diverse biological and synthetic systems that do not have muscles - such as the surface tension catapults of fungal spores and launches of plant seeds. Furthermore, while latches have been recognized as an essential part of many elastic systems, their role in mediating the storage and release of elastic energy from the spring is only now being elucidated. Here, we critically examine the metrics and concepts of power amplification and encourage a framework centered on latch-mediated spring actuation (LaMSA). We emphasize approaches and metrics of LaMSA systems that will forge a pathway toward a principled, interdisciplinary field.

Compliant Substrates Disrupt Elastic Energy Storage in Jumping Tree Frogs

Arboreal frogs navigate complex environments and face diverse mechanical properties within their physical environment. Such frogs may encounter substrates that are damped and absorb energy or are elastic and can store and release energy as the animal pushes off during take-off. When dealing with a compliant substrate, a well-coordinated jump would allow for the recovery of elastic energy stored in the substrate to amplify mechanical power, effectively adding an in-series spring to the hindlimbs. We tested the hypothesis that effective use of compliant substrates requires active changes to muscle activation and limb kinematics to recover energy from the substrate. We designed an actuated force platform, modulated with a real-time feedback controller to vary the stiffness of the substrate. We quantified the kinetics and kinematics of Cuban tree frogs (Osteopilus septentrionalis) jumping off platforms at four different stiffness conditions. In addition, we used electromyography to examine the relationship between muscle activation patterns and substrate compliance during take-off in a knee extensor (m. cruralis) and an ankle extensor (m. plantaris). We find O. septentrionalis do not modulate motor patterns in response to substrate compliance. Although not actively modulated, changes in the rate of limb extension suggest a trade-off between power amplification and energy recovery from the substrate. Our results suggest that compliant substrates disrupt the inertial catch mechanism that allows tree frogs to store elastic energy in the tendon, thereby slowing the rate of limb extension and increasing the duration of take-off. However, the slower rate of limb extension does provide additional time to recover more energy from the substrate. This work serves to broaden our understanding of how the intrinsic mechanical properties of a system may broaden an organism’s capacity to maintain performance when facing environmental perturbations.

Jumping mechanics of desert kangaroo rats

Kangaroo rats are small bipedal desert rodents that use erratic vertical jumps to escape predator strikes. In this study we examined how individual hind limb joints of desert kangaroo rats (Dipodomys deserti) power vertical jumps across a range of heights. We hypothesized that increases in net work would be equally divided across hind limb joints with increases in jump height. To test this hypothesis, we used an inverse dynamics analysis to quantify the mechanical output from the hind limb joints of kangaroo rats jumping vertically over a wide range of heights. The kangaroo rats in this study reached maximal jump heights up to ∼9-times hip height. Net joint work increased significantly with jump height at the hip, knee and ankle, and decreased significantly at the metatarsal-phalangeal joint. The increase in net work generated by each joint was not proportional across joints but was dominated by the ankle, which ranged from contributing 56% of the work done on the center of mass at low jumps to 70% during the highest jumps. Therefore, the results of this study did not support our hypothesis. However, using an anatomical model, we estimated that a substantial proportion of the work delivered at the ankle (48%) was transferred from proximal muscles via the biarticular ankle extensors.

Wheels-in-wheels: Use of gravity in human locomotion

Although a wheel is an ideal method for transportation and the invention of the spoke wheel made a wheel lighter and swifter, a wheel cannot function well on slanted or rough surfaces; these are common in the natural environment. Further, the load support of the wheel is limited to a point of the whole wheel in contact with the ground. Then, we humans may be using the legs as a part of spoke wheel and place our legs and feet on the ground alternatively to support the body weight while the gravitational torque makes the center of mass (COM) rotate around the hip joint when proper stiffness and balance is made. Through a pulley-like action involving the hamstrings and a lever-like action of back muscles via the psoas muscle, the energy expenditure for locomotion can be reduced to the energy for lifting the swing leg to maintain the proper position of the COM. Further, the stabilizing action of the psoas muscle to the spinal column can be achieved between the stance leg and the swing leg by the weight of the lifted swing leg during the forward movement. This lifting action during swing phase can assist an energy-efficient eccentric contraction of the stance leg. The passive tension generated by gravity (own weight and the carried load) can be the reason for the energy efficiency of both head-carrying and the Nepalese porter method. Using this passive gravitational force via actively synchronized neuromuscular action may be universal for animal locomotion.

Evolution of skeletal and muscular morphology within the functionally integrated lower jaw adduction system of sculpins and relatives (Cottoidei)

Vertebrate lever mechanics are defined by the morphology of skeletal elements and the properties of their muscular actuators; these metrics characterize functional diversity. The components of lever systems work in coordination ("functional integration") and may show strong covariation across evolutionary history ("evolutionary integration"), both of which have been hypothesized to constrain phenotypic diversity. We quantified evolutionary integration in a functionally integrated system - the lower jaw of sculpins and relatives (Actinopterygii: Cottoidei). Sculpins primarily rely on suction feeding for prey capture, but there is considerable variation in evasiveness of their prey, resulting in variation in anatomy of the lower jaw-closing mechanism. We used functionally-relevant linear measurements to characterize skeletal and muscular components of this system among 25 cottoid species and two outgroup Hexagrammoidei (greenling) species. We quantified evolutionary covariation and correlation of jaw-closing mechanical advantage (i.e., skeletal leverage) and muscle architecture (i.e., gearing) by correlating phylogenetically independent contrasts and fitting phylogenetically corrected generalized least squares models. We found no evidence of evolutionary covariation in muscle architecture and skeletal leverage. While we found a positive evolutionary correlation between out-lever length and adductor muscle fiber length, there was no significant evolutionary correlation between in-lever length and adductor muscle fiber length. We also found a positive evolutionary correlation between in- and out-lever lengths. These results suggest that skeletal morphology and muscle morphology contribute independently to biomechanical diversity among closely related species, indicating the importance of considering both skeletal and muscular variation in studies of ecomorphological diversification.

A simple model predicts energetically optimised jumping in dogs

It is generally accepted that animals move in a way that minimises energy use during regular gait and there is evidence that the principle might extend more generally to locomotor behaviour and manoeuvres. Jumping during locomotion is a useful manoeuvre that contributes to the versatility of legged locomotion and is within the repertoire of many terrestrial animals. We describe a simple ballistic model that can be used to identify a single unique trajectory of the body's centre of mass that minimises the mechanical work to initiate a jump, regardless of the approach velocity or take-off position. The model was used to show that domestic dogs (Canis lupus familiaris) demonstrate complex anticipatory control of locomotor behaviour by systematically using jump trajectories close to those that minimised the mechanical energy of jumps over raised obstacles. It is unclear how the dogs acquired the complex perception and control necessary to exhibit the observed behaviour. The model may be used to investigate whether animals adopt energetically optimised behaviour in any similarly constrained ballistic task.

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.

Muscle-spring dynamics in time-limited, elastic movements

Muscle contractions that load in-series springs with slow speed over a long duration do maximal work and store the most elastic energy. However, time constraints, such as those experienced during escape and predation behaviours, may prevent animals from achieving maximal force capacity from their muscles during spring-loading. Here, we ask whether animals that have limited time for elastic energy storage operate with springs that are tuned to submaximal force production. To answer this question, we used a dynamic model of a muscle-spring system undergoing a fixed-end contraction, with parameters from a time-limited spring-loader (bullfrog: Lithobates catesbeiana) and a non-time-limited spring-loader (grasshopper: Schistocerca gregaria). We found that when muscles have less time to contract, stored elastic energy is maximized with lower spring stiffness (quantified as spring constant). The spring stiffness measured in bullfrog tendons permitted less elastic energy storage than was predicted by a modelled, maximal muscle contraction. However, when muscle contractions were modelled using biologically relevant loading times for bullfrog jumps (50 ms), tendon stiffness actually maximized elastic energy storage. In contrast, grasshoppers, which are not time limited, exhibited spring stiffness that maximized elastic energy storage when modelled with a maximal muscle contraction. These findings demonstrate the significance of evolutionary variation in tendon and apodeme properties to realistic jumping contexts as well as the importance of considering the effect of muscle dynamics and behavioural constraints on energy storage in muscle-spring systems.

Strategy of landing behavior of the tree frog Hyla japonica

Toads on the ground control landing behavior by a simple strategy in which they extend their elbows at roughly the same time after take-off and continue extending them at the same velocity until they land. However, this simple strategy does not work well in much more complicated arboreal habitat. We analyzed properties of jumping and timing of forelimb extension of the tree frog, Hyla japonica, to demonstrate how the arboreal species land safely. The results showed that distance, duration, and velocity of jump were not affected by explicit optic flow information, whereas the all three parameters decreased significantly in the blindfolded animals. This suggests that the frogs do not use optic flow information during flight but need visual information to plan a jump to reach the destination appropriately. Many animals generate prelanding behavior when time-to-contact reaches a threshold value. However, the results showed that a significant positive correlation was found between jump duration and time-to-contact both in normal and blindfolded animals. The slopes and the intercepts of the linear regression lines were about 0.8 and about 50 msec, respectively, in both cases. These suggest that, without any visual inputs, the animal can make the decision for prelanding forelimb extension at 20% of jump duration and start extending the forelimb after a motor delay of about 50 msec as in the normal condition. This strategy enables the tree frog to always maintain 80% of the jump duration to prepare for landing in their complex habitat.

Skeletal muscle mechanics, energetics and plasticity

The following papers by Richard Lieber (Skeletal Muscle as an Actuator), Thomas Roberts (Elastic Mechanisms and Muscle Function), Silvia Blemker (Skeletal Muscle has a Mind of its Own: a Computational Framework to Model the Complex Process of Muscle Adaptation) and Sabrina Lee (Muscle Properties of Spastic Muscle (Stroke and CP) are summaries of their representative contributions for the session on skeletal muscle mechanics, energetics and plasticity at the 2016 Biomechanics and Neural Control of Movement Conference (BANCOM 2016). Dr. Lieber revisits the topic of sarcomere length as a fundamental property of skeletal muscle contraction. Specifically, problems associated with sarcomere length non-uniformity and the role of sarcomerogenesis in diseases such as cerebral palsy are critically discussed. Dr. Roberts then makes us aware of the (often neglected) role of the passive tissues in muscles and discusses the properties of parallel elasticity and series elasticity, and their role in muscle function. Specifically, he identifies the merits of analyzing muscle deformations in three dimensions (rather than just two), because of the potential decoupling of the parallel elastic element length from the contractile element length, and reviews the associated implications for the architectural gear ratio of skeletal muscle contraction. Dr. Blemker then tackles muscle adaptation using a novel way of looking at adaptive processes and what might drive adaptation. She argues that cells do not have pre-programmed behaviors that are controlled by the nervous system. Rather, the adaptive responses of muscle fibers are determined by sub-cellular signaling pathways that are affected by mechanical and biochemical stimuli; an exciting framework with lots of potential. Finally, Dr. Lee takes on the challenging task of determining human muscle properties in vivo. She identifies the dilemma of how we can demonstrate the effectiveness of a treatment, specifically in cases of muscle spasticity following stroke or in children with cerebral palsy. She then discusses the merits of ultrasound based elastography, and the clinical possibilities this technique might hold. Overall, we are treated to a vast array of basic and clinical problems in skeletal muscle mechanics and physiology, with some solutions, and many suggestions for future research.

Human ankle plantar flexor muscle-tendon mechanics and energetics during maximum acceleration sprinting

Tendon elastic strain energy is the dominant contributor to muscle-tendon work during steady-state running. Does this behaviour also occur for sprint accelerations? We used experimental data and computational modelling to quantify muscle fascicle work and tendon elastic strain energy for the human ankle plantar flexors (specifically soleus and medial gastrocnemius) for multiple foot contacts of a maximal sprint as well as for running at a steady-state speed. Positive work done by the soleus and medial gastrocnemius muscle fascicles decreased incrementally throughout the maximal sprint and both muscles performed more work for the first foot contact of the maximal sprint (FC1) compared with steady-state running at 5 m s(-1) (SS5). However, the differences in tendon strain energy for both muscles were negligible throughout the maximal sprint and when comparing FC1 to SS5. Consequently, the contribution of muscle fascicle work to stored tendon elastic strain energy was greater for FC1 compared with subsequent foot contacts of the maximal sprint and compared with SS5. We conclude that tendon elastic strain energy in the ankle plantar flexors is just as vital at the start of a maximal sprint as it is at the end, and as it is for running at a constant speed.

Doping for sex: Bad for mitochondrial performances? Case of testosterone supplemented Hyla arborea during the courtship period

Sexual selection has been widely explored from numerous perspectives, including behavior, ecology, and to a lesser extent, energetics. Hormones, and specifically androgens such as testosterone, are known to trigger sexual behaviors. Their effects are therefore of interest during the breeding period. Our work investigates the effect of testosterone on the relationship between cellular bioenergetics and contractile properties of two skeletal muscles involved in sexual selection in tree frogs. Calling and locomotor abilities are considered evidence of good condition in Hyla males, and thus server as proxies for male quality and attractiveness. Therefore, how these behaviors are powered efficiently remains of both physiological and behavioral interest. Most previous research, however, has focused primarily on biomechanics, contractile properties or mitochondrial enzyme activities. Some have tried to establish a relationship between those parameters but to our knowledge, there is no study examining muscle fiber bioenergetics in Hyla arborea. Using chronic testosterone supplementation and through an integrative study combining fiber bioenergetics and contractile properties, we compared sexually dimorphic trunk muscles directly linked to chronic sound production to a hindlimb muscle (i.e. gastrocnemius) that is particularly adapted for explosive movement. As expected, trunk muscle bioenergetics were more affected by testosterone than gastrocnemius muscle. Our study also underlines contrasted energetic capacities between muscles, in line with contractile properties of these two different muscle phenotypes. The discrepancy of both substrate utilization and contractile properties is consistent with the specific role of each muscle and our results are elucidating another integrative example of a muscle force-endurance trade-off.

In vivo muscle force and muscle power during near-maximal frog jumps

Frogs' outstanding jumping ability has been associated with a high power output from the leg extensor muscles. Two main theories have emerged to explain the high power output of the frog leg extensor muscles, either (i) the contractile conditions of all leg extensor muscles are optimized in terms of muscle length and speed of shortening, or (ii) maximal power is achieved through a dynamic catch mechanism that uncouples fibre shortening from the corresponding muscle-tendon unit shortening. As in vivo instantaneous power generation in frog hind limb muscles during jumping has never been measured directly, it is hard to distinguish between the two theories. In this study, we determined the instantaneous variable power output of the plantaris longus (PL) of Lithobates pipiens (also known as Rana pipiens), by directly measuring the in vivo force, length change, and speed of muscle and fibre shortening in near maximal jumps. Fifteen near maximal jumps (> 50cm in horizontal distance) were analyzed. High instantaneous peak power in PL (536 ± 47 W/kg) was achieved by optimizing the contractile conditions in terms of the force-length but not the force-velocity relationship, and by a dynamic catch mechanism that decouples fascicle shortening from muscle-tendon unit shortening. We also found that the extra-muscular free tendon likely amplifies the peak power output of the PL by modulating fascicle shortening length and shortening velocity for optimum power output, but not by releasing stored energy through recoiling as the tendon only started recoiling after peak PL power had been achieved.

Inverse dynamic modelling of jumping in the red-legged running frog, Kassina maculata

Although the red-legged running frog, Kassina maculata, is secondarily a walker/runner, it retains the capacity for multiple locomotor modes, including jumping at a wide range of angles (nearly 70 deg). Using simultaneous hind limb kinematics and single-foot ground reaction forces, we performed inverse dynamics analyses to calculate moment arms and torques about the hind limb joints during jumping at different angles in K. maculata. We show that forward thrust is generated primarily at the hip and ankle, while body elevation is primarily driven by the ankle. Steeper jumps are achieved by increased thrust at the hip and ankle and greater downward rotation of the distal limb segments. Because of its proximity to the GRF vector, knee posture appears to be important in controlling torque directions about this joint and, potentially, torque magnitudes at more distal joints. Other factors correlated with higher jump angles include increased body angle in the preparatory phase, faster joint openings and increased joint excursion, higher ventrally directed force, and greater acceleration and velocity. Finally, we demonstrate that jumping performance in K. maculata does not appear to be compromised by presumed adaptation to walking/running. Our results provide new insights into how frogs engage in a wide range of locomotor behaviours and the multi-functionality of anuran limbs.

Robotic vertical jumping agility via series-elastic power modulation

Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances of 2 m, starting from rest. We characterize this performance by a metric we call vertical jumping agility. Through basic kinetic relations, we show that this agility metric is fundamentally constrained by available actuator power. Although rapid high jumping is an important performance characteristic, the ability to control forces during stance also appears critical for sophisticated behaviors. The animal with the highest vertical jumping agility, the galago (Galago senegalensis), is known to use a power-modulating strategy to obtain higher peak power than that of muscle alone. Few previous robots have used series-elastic power modulation (achieved by combining series-elastic actuation with variable mechanical advantage), and because of motor power limits, the best current robot has a vertical jumping agility of only 55% of a galago. Through use of a specialized leg mechanism designed to enhance power modulation, we constructed a jumping robot that achieved 78% of the vertical jumping agility of a galago. Agile robots can explore venues of locomotion that were not previously attainable. We demonstrate this with a wall jump, where the robot leaps from the floor to a wall and then springs off the wall to reach a net height that is greater than that accessible by a single jump. Our results show that series-elastic power modulation is an actuation strategy that enables a clade of vertically agile robots.

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.

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.

Muscle contractile properties as an explanation of the higher mean power output in marmosets than humans during jumping

The muscle mass-specific mean power output (PMMS,mean) during push-off in jumping in marmosets (Callithrix jacchus) is more than twice that in humans. In the present study it was tested whether this is attributable to differences in muscle contractile properties. In biopsies of marmoset m. vastus lateralis (VL) and m. gastrocnemius medialis (GM) (N=4), fibre-type distribution was assessed using fluorescent immunohistochemistry. In single fibres from four marmoset and nine human VL biopsies, the force-velocity characteristics were determined. Marmoset VL contained almost exclusively fast muscle fibres (>99.0%), of which 63% were type IIB and 37% were hybrid fibres, fibres containing multiple myosin heavy chains. GM contained 9% type I fibres, 44% type IIB and 47% hybrid muscle fibres. The proportions of fast muscle fibres in marmoset VL and GM were substantially larger than those reported in the corresponding human muscles. The curvature of the force-velocity relationships of marmoset type IIB and hybrid fibres was substantially flatter than that of human type I, IIA, IIX and hybrid fibres, resulting in substantially higher muscle fibre mass-specific peak power (PFMS,peak). Muscle mass-specific peak power output (PMMS,peak) values of marmoset whole VL and GM, estimated from their fibre-type distributions and force-velocity characteristics, were more than twice the estimates for the corresponding human muscles. As the relative difference in estimated PMMS,peak between marmosets and humans is similar to that of PMMS,mean during push-off in jumping, it is likely that the difference in in vivo mechanical output between humans and marmosets is attributable to differences in muscle contractile properties.

Chasing maximal performance: a cautionary tale from the celebrated jumping frogs of Calaveras County

Maximal performance is an essential metric for understanding many aspects of an organism's biology, but it can be difficult to determine because a measured maximum may reflect only a peak level of effort, not a physiological limit. We used a unique opportunity provided by a frog jumping contest to evaluate the validity of existing laboratory estimates of maximum jumping performance in bullfrogs (Rana catesbeiana). We recorded video of 3124 bullfrog jumps over the course of the 4-day contest at the Calaveras County Jumping Frog Jubilee, and determined jump distance from these images and a calibration of the jump arena. Frogs were divided into two groups: 'rental' frogs collected by fair organizers and jumped by the general public, and frogs collected and jumped by experienced, 'professional' teams. A total of 58% of recorded jumps surpassed the maximum jump distance in the literature (1.295 m), and the longest jump was 2.2 m. Compared with rental frogs, professionally jumped frogs jumped farther, and the distribution of jump distances for this group was skewed towards long jumps. Calculated muscular work, historical records and the skewed distribution of jump distances all suggest that the longest jumps represent the true performance limit for this species. Using resampling, we estimated the probability of observing a given jump distance for various sample sizes, showing that large sample sizes are required to detect rare maximal jumps. These results show the importance of sample size, animal motivation and physiological conditions for accurate maximal performance estimates.

Elastic recoil can either amplify or attenuate muscle-tendon power, depending on inertial vs. fluid dynamic loading

Frog jumps exceed muscle power limits. To achieve this, a muscle may store elastic energy in tendon before it is released rapidly, producing 'power amplification' as tendon recoil assists the muscle to accelerate the load. Do the musculoskeletal modifications conferring power amplification help or hinder frog swimming? We used a Hill-type mathematical model of a muscle-tendon (MT) with contractile element (CE) and series elastic element (SEE) properties of frogs. We varied limb masses from 0.3 to 30 g, foot-fin areas from 0.005 to 50 cm(2) and effective mechanical advantage (EMA=in-lever/out-lever) from 0.025 to 0.1. 'Optimal' conditions produced power amplification of ~19% greater than the CE limit. Yet, other conditions caused ~80% reduction of MT power (power attenuation) due to SEE recoil absorbing power from (rather than adding to) the CE. The tendency for elastic recoil to cause power amplification vs. attenuation was load dependent: low fluid drag loads, high limb mass and EMA=0.1 caused power amplification whereas high drag, low mass and low EMA (=0.025) caused attenuation. Power amplification emerged when: (1) CE shortening velocity is 1/3V(max), (2) elastic energy storage is neither too high nor too low, and (3). peak inertial-drag force ratio ≥ ~1.5. Excessive elastic energy storage delayed the timing of recoil, causing power attenuation. Thus our model predicts that for fluid loads, the benefit from a compliant tendon is modest, and when the system is 'poorly tuned' (i.e., inappropriate EMA), MT power attenuation can be severe.

The extraordinary athletic performance of leaping gibbons

The distance that animals leap depends on their take-off angle and velocity. The velocity is generated solely by mechanical work during the push-off phase of standing-start leaps. Gibbons are capable of exceptional leaping performance, crossing gaps in the forest canopy exceeding 10 m, yet possess none of the adaptations possessed by specialist leapers synonymous with maximizing mechanical work. To understand this impressive performance, we recorded leaps of the gibbons exceeding 3.7 m. Gibbons perform more mass-specific work (35.4 J kg(-1)) than reported for any other species to date, accelerating to 8.3 ms(-1) in a single movement and redefining our estimates of work performance by animals. This energy (enough for a 3.5 m vertical leap) is 60 per cent higher than that achieved by galagos, which are renowned for their remarkable leaping performance. The gibbons' unusual morphology facilitates a division of labour among the hind limbs, forelimbs and trunk, resulting in modest power requirements compared with more specialized leapers.

The weak link: do muscle properties determine locomotor performance in frogs?

Muscles power movement, yet the conceptual link between muscle performance and locomotor performance is poorly developed. Frog jumping provides an ideal system to probe the relationship between muscle capacity and locomotor performance, because a jump is a single discrete event and mechanical power output is a critical determinant of jump distance. We tested the hypothesis that interspecific variation in jump performance could be explained by variability in available muscle power. We used force plate ergometry to measure power produced during jumping in Cuban tree frogs (Osteopilus septentrionalis), leopard frogs (Rana pipiens) and cane toads (Bufo marinus). We also measured peak isotonic power output in isolated plantaris muscles for each species. As expected, jump performance varied widely. Osteopilus septentrionalis developed peak power outputs of 1047.0 ± 119.7 W kg(-1) hindlimb muscle mass, about five times that of B. marinus (198.5 ± 54.5 W kg(-1)). Values for R. pipiens were intermediate (543.9 ± 96.2 W kg(-1)). These differences in jump power were not matched by differences in available muscle power, which were 312.7 ± 28.9, 321.8 ± 48.5 and 262.8 ± 23.2 W kg(-1) muscle mass for O. septentrionalis, R. pipiens and B. marinus, respectively. The lack of correlation between available muscle power and jump power suggests that non-muscular mechanisms (e.g. elastic energy storage) can obscure the link between muscle mechanical performance and locomotor performance.

Hindlimb interarticular coordinations in Microcebus murinus in maximal leaping

The purpose of this study was to investigate the pattern of coordinations of the hindlimb joints in the world's smallest living primate (Microcebus murinus). The sequencing and timing of joint rotations have been analyzed in five adult males performing maximal leaping from a take-off immobile platform to their own wooden nest. Angular kinematics of hip, knee, angle and metatarso-phalangeal (MT) joints were deduced from high-speed X-ray films in the sagittal plane of the animals. The body mass center (BMC) of the lemurs was assimilated to their iliac crest. The maximal airborne performance of the lemurs was 0.33+/-0.04 m, which represented 2.55+/-0.36 times their snout-vent length. Take-off instant occurred 72+/-7 ms after the start of the push-off, with a BMC velocity of 3.23+/-0.48 m s(-1), oriented 55+/-14 deg. with the horizontal plane. The kinematic analysis of the joints and musculo-tendon architecture of the M. murinus plantar flexors pointed out mechanical power amplifier mechanisms (i.e. stretch-shortening cycle of hindlimb muscles and proximo-to-distal sequence).

A locomotor innovation enables water-land transition in a marine fish

BACKGROUND

Morphological innovations that significantly enhance performance capacity may enable exploitation of new resources and invasion of new ecological niches. The invasion of land from the aquatic realm requires dramatic structural and physiological modifications to permit survival in a gravity-dominated, aerial environment. Most fishes are obligatorily aquatic, with amphibious fishes typically making slow-moving and short forays on to land.

METHODOLOGY/PRINCIPAL FINDINGS

Here I describe the behaviors and movements of a little known marine fish that moves extraordinarily rapidly on land. I found that the Pacific leaping blenny, Alticus arnoldorum, employs a tail-twisting movement on land, previously unreported in fishes. Focal point behavioral observations of Alticus show that they have largely abandoned the marine realm, feed and reproduce on land, and even defend terrestrial territories. Comparisons of these blennies' terrestrial kinematic and kinetic (i.e., force) measurements with those of less terrestrial sister genera show A. arnoldorum move with greater stability and locomotor control, and can move away more rapidly from impending threats.

CONCLUSIONS/SIGNIFICANCE

My results demonstrate that axial tail twisting serves as a key innovation enabling invasion of a novel marine niche. This paper highlights the potential of using this system to address general evolutionary questions about water-land transitions and niche invasions.

Muscle performance during frog jumping: influence of elasticity on muscle operating lengths

A fundamental feature of vertebrate muscle is that maximal force can be generated only over a limited range of lengths. It has been proposed that locomotor muscles operate over this range of lengths in order to maximize force production during movement. However, locomotor behaviours like jumping may require muscles to shorten substantially in order to generate the mechanical work necessary to propel the body. Thus, the muscles that power jumping may need to shorten to lengths where force production is submaximal. Here we use direct measurements of muscle length in vivo and muscle force-length relationships in vitro to determine the operating lengths of the plantaris muscle in bullfrogs (Rana catesbeiana) during jumping. We find that the plantaris muscle operates primarily on the descending limb of the force-length curve, resting at long initial lengths (1.3 +/- 0.06 L(o)) before shortening to muscle's optimal length (1.03 +/- 0.05 L(o)). We also compare passive force-length curves from frogs with literature values for mammalian muscle, and demonstrate that frog muscles must be stretched to much longer lengths before generating passive force. The relatively compliant passive properties of frog muscles may be a critical feature of the system, because it allows muscles to operate at long lengths and improves muscles' capacity for force production during a jump.