Muscle designed for maximum short-term power output: quail flight muscle

The effect of muscle ultrastructure on the force, displacement and work capacity of skeletal muscle

Skeletal muscle powers animal movement through interactions between the contractile proteins, actin and myosin. Structural variation contributes greatly to the variation in mechanical performance observed across muscles. In vertebrates, gross structural variation occurs in the form of changes in the muscle cross-sectional area : fibre length ratio. This results in a trade-off between force and displacement capacity, leaving work capacity unaltered. Consequently, the maximum work per unit volume-the work density-is considered constant. Invertebrate muscle also varies in muscle ultrastructure, i.e. actin and myosin filament lengths. Increasing actin and myosin filament lengths increases force capacity, but the effect on muscle fibre displacement, and thus work, capacity is unclear. We use a sliding-filament muscle model to predict the effect of actin and myosin filament lengths on these mechanical parameters for both idealized sarcomeres with fixed actin : myosin length ratios, and for real sarcomeres with known filament lengths. Increasing actin and myosin filament lengths increases stress without reducing strain capacity. A muscle with longer actin and myosin filaments can generate larger force over the same displacement and has a higher work density, so seemingly bypassing an established trade-off. However, real sarcomeres deviate from the idealized length ratio suggesting unidentified constraints or selective pressures.

Why animals can outrun robots

Animals are much better at running than robots. The difference in performance arises in the important dimensions of agility, range, and robustness. To understand the underlying causes for this performance gap, we compare natural and artificial technologies in the five subsystems critical for running: power, frame, actuation, sensing, and control. With few exceptions, engineering technologies meet or exceed the performance of their biological counterparts. We conclude that biology's advantage over engineering arises from better integration of subsystems, and we identify four fundamental obstacles that roboticists must overcome. Toward this goal, we highlight promising research directions that have outsized potential to help future running robots achieve animal-level performance.

Adaptations for extremely high muscular power output: why do muscles that operate at intermediate cycle frequencies generate the highest powers?

The pectoralis muscles of the blue-breasted quail Coturnix chinensis generate the highest power output over a contraction cycle measured to date, approximately 400 W kg- 1. The power generated during a cyclical contraction is the product of work and cycle frequency (or standard operating frequency), suggesting that high powers should be favoured by operating at high cycle frequencies. Yet the quail muscles operate at an intermediate cycle frequency (23 Hz), which is much lower than the highest frequency skeletal muscles are capable of operating (~ 200 Hz in vertebrates). To understand this apparent anomaly, in this paper I consider the adaptations that favour high mechanical power as well as the trade-offs that occur between force and muscle operating frequency that limit power. It will be shown that adaptations that favour rapid cyclical contractions compromise force generation; consequently, maximum power increases with cycle frequency to approximately 15-25 Hz, but decreases at higher cycle frequencies. At high cycle frequencies, muscle stress is reduced by a decrease in the crossbridge duty cycle and an increase in the proportion of the muscle occupied by non-contractile elements such as sarcoplasmic reticulum and mitochondria. Muscles adapted to generate high powers, such as the pectoralis muscle of blue-breasted quail, exhibit: (i) intermediate contraction kinetics; (ii) a high relative myofibrillar volume; and (iii) a high maximum shortening velocity and a relatively flat force-velocity relationship. They are also characterised by (iv) operating at an intermediate cycle frequency; (v) utilisation of asymmetrical length trajectories, with a high proportion of the cycle spent shortening; and, finally, (vi) relatively large muscles. In part, the high power output of the blue-breasted quail pectoralis muscle can be attributed to its body size and the intermediate wing beat frequency required to generate aerodynamic force to support body mass, but in addition specialisations in the contractile and morphological properties of the muscle favour the generation of high stress at high strain rates.

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

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

Dual spring force couples yield multifunctionality and ultrafast, precision rotation in tiny biomechanical systems

Small organisms use propulsive springs rather than muscles to repeatedly actuate high acceleration movements, even when constrained to tiny displacements and limited by inertial forces. Through integration of a large kinematic dataset, measurements of elastic recoil, energetic math modeling and dynamic math modeling, we tested how trap-jaw ants (Odontomachus brunneus) utilize multiple elastic structures to develop ultrafast and precise mandible rotations at small scales. We found that O. brunneus develops torque on each mandible using an intriguing configuration of two springs: their elastic head capsule recoils to push and the recoiling muscle-apodeme unit tugs on each mandible. Mandibles achieved precise, planar, circular trajectories up to 49,100 rad s-1 (470,000 rpm) when powered by spring propulsion. Once spring propulsion ended, the mandibles moved with unconstrained and oscillatory rotation. We term this mechanism a 'dual spring force couple', meaning that two springs deliver energy at two locations to develop torque. Dynamic modeling revealed that dual spring force couples reduce the need for joint constraints and thereby reduce dissipative joint losses, which is essential to the repeated use of ultrafast, small systems. Dual spring force couples enable multifunctionality: trap-jaw ants use the same mechanical system to produce ultrafast, planar strikes driven by propulsive springs and for generating slow, multi-degrees of freedom mandible manipulations using muscles, rather than springs, to directly actuate the movement. Dual spring force couples are found in other systems and are likely widespread in biology. These principles can be incorporated into microrobotics to improve multifunctionality, precision and longevity of ultrafast systems.

A novel power-amplified jumping behavior in larval beetles (Coleoptera: Laemophloeidae)

Larval insects use many methods for locomotion. Here we describe a previously unknown jumping behavior in a group of beetle larvae (Coleoptera: Laemophloeidae). We analyze and describe this behavior in Laemophloeus biguttatus and provide information on similar observations for another laemophloeid species, Placonotus testaceus. Laemophloeus biguttatus larvae precede jumps by arching their body while gripping the substrate with their legs over a period of 0.22 ± 0.17s. This is followed by a rapid ventral curling of the body after the larvae releases its grip that launches them into the air. Larvae reached takeoff velocities of 0.47 ± 0.15 m s-1 and traveled 11.2 ± 2.8 mm (1.98 ± 0.8 body lengths) horizontally and 7.9 ± 4.3 mm (1.5 ± 0.9 body lengths) vertically during their jumps. Conservative estimates of power output revealed that some but not all jumps can be explained by direct muscle power alone, suggesting Laemophloeus biguttatus may use a latch-mediated spring actuation mechanism (LaMSA) in which interaction between the larvae's legs and the substrate serves as the latch. MicroCT scans and SEM imaging of larvae did not reveal any notable modifications that would aid in jumping. Although more in-depth experiments could not be performed to test hypotheses on the function of these jumps, we posit that this behavior is used for rapid locomotion which is energetically more efficient than crawling the same distance to disperse from their ephemeral habitat. We also summarize and discuss jumping behaviors among insect larvae for additional context of this behavior in laemophloeid beetles.

Jumping in lantern bugs (Hemiptera, Fulgoridae)

Lantern bugs are amongst the largest of the jumping hemipteran bugs, with body lengths reaching 44 mm and masses reaching 0.7 g. They are up to 600 times heavier than smaller hemipterans that jump powerfully using catapult mechanisms to store energy. Does a similar mechanism also propel jumping in these much larger insects? The jumping performance of two species of lantern bugs (Hemiptera, Auchenorrhyncha, family Fulgoridae) from India and Malaysia was therefore analysed from high-speed videos. The kinematics showed that jumps were propelled by rapid and synchronous movements of both hind legs, with their trochantera moving first. The hind legs were 20–40% longer than the front legs, which was attributable to longer tibiae. It took 5–6 ms to accelerate to take-off velocities reaching 4.65 m s⁻¹ in the best jumps by female Kalidasa lanata. During these jumps, adults experienced an acceleration of 77 g, required an energy expenditure of 4800 μJ and a power output of 900 mW, and exerted a force of 400 mN. The required power output of the thoracic jumping muscles was 21,000 W kg⁻¹, 40 times greater than the maximum active contractile limit of muscle. Such a jumping performance therefore required a power amplification mechanism with energy storage in advance of the movement, as in their smaller relatives. These large lantern bugs are near isometrically scaled-up versions of their smaller relatives, still achieve comparable, if not higher, take-off velocities, and outperform other large jumping insects such as grasshoppers.

Summary: Lantern bugs are large insects that jump at high-take-off velocities using a catapult mechanism that matches the performance of their much smaller planthopper relatives

Not So Fast: Strike Kinematics of the Araneoid Trap-Jaw Spider Pararchaea alba (Malkaridae: Pararchaeinae)

To capture prey otherwise unattainable by muscle function alone, some animal lineages have evolved movements that are driven by stored elastic energy, producing movements of remarkable speed and force. One such example that has evolved multiple times is a trap-jaw mechanism, in which the mouthparts of an animal are loaded with energy as they open to a wide gape and then, when triggered to close, produce a terrific force. Within the spiders (Araneae), this type of attack has thus far solely been documented in the palpimanoid family Mecysmaucheniidae but a similar morphology has also been observed in the distantly related araneoid subfamily Pararchaeinae, leading to speculation of a trap-jaw attack in that lineage as well. Here, using high-speed videography, we test whether cheliceral strike power output suggests elastic-driven movements in the pararchaeine Pararchaea alba. The strike speed attained places P. alba as a moderately fast striker exceeding the slowest mecysmaucheniids, but failing to the reach the most extreme high-speed strikers that have elastic-driven mechanisms. Using microcomputed tomography, we compare the morphology of P. alba chelicerae in the resting and open positions, and their related musculature, and based on results propose a mechanism for cheliceral strike function that includes a torque reversal latching mechanism. Similar to the distantly related trap-jaw mecysmaucheniid spiders, the unusual prosoma morphology in P. alba seemingly allows for highly maneuverable chelicerae with a much wider gape than typical spiders, suggesting that increasingly maneuverable joints coupled with a latching mechanism may serve as a precursor to elastic-driven movements.

Temperature effects on the jumping performance of house crickets

Insect jumping and other explosive animal movements often make use of elastic-recoil mechanisms to enhance performance. These mechanisms circumvent the intrinsic rate limitations on muscle shortening, allowing for greater power production as well as thermal robustness of the associated movements. Here we examine the performance and temperature effects on jumping in the house cricket, Acheta domesticus, using high-speed imaging and inverse dynamics analysis. We find that adult house crickets jumped with greater performance than would be possible using direct muscle shortening, generating a peak power of over 2000 W/kg of muscle mass and maintaining high performance across the entire tested range of body temperatures (12-32°C). Performance declined at the lowest temperature (12°C), yet jump power still exceeds available muscle power. These results reveal that Acheta domesticus makes use of an elastic-recoil mechanism that enhances both the performance and thermal robustness of jumping.

A biomechanical paradox in fish: swimming and suction feeding produce orthogonal strain gradients in the axial musculature

The axial musculature of fishes has historically been characterized as the powerhouse for explosive swimming behaviors. However, recent studies show that some fish also use their ‘swimming’ muscles to generate over 90% of the power for suction feeding. Can the axial musculature achieve high power output for these two mechanically distinct behaviors? Muscle power output is enhanced when all of the fibers within a muscle shorten at optimal velocity. Yet, axial locomotion produces a mediolateral gradient of muscle strain that should force some fibers to shorten too slowly and others too fast. This mechanical problem prompted research into the gearing of fish axial muscle and led to the discovery of helical fiber orientations that homogenize fiber velocities during swimming, but does such a strain gradient also exist and pose a problem for suction feeding? We measured muscle strain in bluegill sunfish, Lepomis macrochirus, and found that suction feeding produces a gradient of longitudinal strain that, unlike the mediolateral gradient for locomotion, occurs along the dorsoventral axis. A dorsoventral strain gradient within a muscle with fiber architecture shown to counteract a mediolateral gradient suggests that bluegill sunfish should not be able to generate high power outputs from the axial muscle during suction feeding—yet prior work shows that they do, up to 438 W kg⁻¹. Solving this biomechanical paradox may be critical to understanding how many fishes have co-opted ‘swimming’ muscles into a suction feeding powerhouse.

A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae's predatory strike

The biomechanics underlying the predatory strike of dragonfly larvae is not yet understood. Dragonfly larvae are aquatic ambush predators, capturing their prey with a strongly modified extensible mouthpart. The current theory of hydraulic pressure being the driving force of the predatory strike can be refuted by our manipulation experiments and reinterpretation of former studies. Here, we report evidence for an independently loaded synchronized dual-catapult system. To power the ballistic movement of a single specialized mouthpart, two independently loaded springs simultaneously release and actuate two separate joints in a kinematic chain. Energy for the movement is stored by straining an elastic structure at each joint and, possibly, the surrounding cuticle, which is preloaded by muscle contraction. As a proof of concept, we developed a bioinspired robotic model resembling the morphology and functional principle of the extensible mouthpart. Understanding the biomechanics of the independently loaded synchronized dual-catapult system found in dragonfly larvae can be used to control the extension direction and, thereby, thrust vector of a power-modulated robotic system.

Medium compensation in a spring-actuated system

Mantis shrimp strikes are one of the fastest animal movements, despite their occurrence in a water medium with viscous drag. Since the strike is produced by a latch-mediated spring-actuated system and not directly driven by muscle action, we predicted that strikes performed in air would be faster than underwater as a result of reduction in the medium's drag. Using high-speed video analysis of stereotyped strikes elicited from Squilla mantis, we found the exact opposite: strikes are much slower and less powerful in air than in water. S. mantis strikes in air have a similar mass and performance to latch-mediated spring-actuated jumps in locusts, suggesting a potential threshold for the energetics of a 1-2 g limb rotating in air. Drag forces induced by the media may be a key feature in the evolution of mantis shrimp strikes and provide a potential target for probing the braking system of these extremely fast movements.

Jumping and take-off in a winged scorpion fly (Mecoptera, Panorpa communis)

High-speed videos were used to analyse whether and how adults of a winged species of scorpion fly (Mecoptera, Panorpa communis) jump and determine whether they use the same mechanism as that of the only other mecopteran known to jump, the wingless snow flea, Boreus hyemalis Adult females are longer and heavier than males and have longer legs, but of the same relative proportions. The middle legs are 20% longer and the hind legs 60% longer than the front legs. A jump starts with the middle and hind legs in variable positions, but together, by depressing their coxo-trochanteral and extending their femoro-tibial joints, they accelerate the body in 16-19 ms to mean take-off velocities of 0.7-0.8 m s^-1; performances in males and females were not significantly different. Depression of the wings accompanies these leg movements, but clipping them does not affect jump performance. Smooth transition to flapping flight occurs once airborne with little loss of energy to body rotation. Ninety percent of the jumps analysed occurred without an observable stimulus; the remaining 10% were in response to a mechanical touch. The performance of these jumps was not significantly different. In its fastest jumps, a scorpion fly experiences an acceleration of 10 g , expends 23 µJ of energy and requires a power output less than 250 W kg^-1 of muscle that can be met by direct muscle contractions without invoking an indirect power amplification mechanism. The jumping mechanism is like that of snow fleas.

The Interaction of Compliance and Activation on the Force-Length Operating Range and Force Generating Capacity of Skeletal Muscle: A Computational Study using a Guinea Fowl Musculoskeletal Model

A muscle’s performance is influenced by where it operates on its force–length (F–L) curve. Here we explore how activation and tendon compliance interact to influence muscle operating lengths and force-generating capacity. To study this, we built a musculoskeletal model of the lower limb of the guinea fowl and simulated the F–L operating range during fixed-end fixed-posture contractions for 39 actuators under thousands of combinations of activation and posture using three different muscle models: Muscles with non-compliant tendons, muscles with compliant tendons but no activation-dependent shift in optimal fiber length (L0), and muscles with both compliant tendons and activation-dependent shifts in L0. We found that activation-dependent effects altered muscle fiber lengths up to 40% and increased or decreased force capacity by up to 50% during fixed-end contractions. Typically, activation-compliance effects reduce muscle force and are dominated by the effects of tendon compliance at high activations. At low activation, however, activation-dependent shifts in L0 are equally important and can result in relative force changes for low compliance muscles of up to 60%. There are regions of the F–L curve in which muscles are most sensitive to compliance and there are troughs of influence where these factors have little effect. These regions are hard to predict, though, because the magnitude and location of these areas of high and low sensitivity shift with compliance level. In this study we provide a map for when these effects will meaningfully influence force capacity and an example of their contributions to force production during a static task, namely standing.

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.

Adhesive latching and legless leaping in small, worm-like insect larvae

Jumping is often achieved using propulsive legs, yet legless leaping has evolved multiple times. We examined the kinematics, energetics and morphology of long-distance jumps produced by the legless larvae of gall midges (Asphondylia sp.). They store elastic energy by forming their body into a loop and pressurizing part of their body to form a transient ‘leg’. They prevent movement during elastic loading by placing two regions covered with microstructures against each other, which likely serve as a newly described adhesive latch. Once the latch releases, the transient ‘leg’ launches the body into the air. Their average takeoff speeds (mean: 0.85 m s−1; range: 0.39–1.27 m s−1) and horizontal travel distances (up to 36 times body length or 121 mm) rival those of legged insect jumpers and their mass-specific power density (mean: 910 W kg−1; range: 150–2420 W kg−1) indicates the use of elastic energy storage to launch the jump. Based on the forces reported for other microscale adhesive structures, the adhesive latching surfaces are sufficient to oppose the loading forces prior to jumping. Energetic comparisons of insect larval crawling versus jumping indicate that these jumps are orders of magnitude more efficient than would be possible if the animals had crawled an equivalent distance. These discoveries integrate three vibrant areas in engineering and biology – soft robotics, small, high-acceleration systems, and adhesive systems – and point toward a rich, and as-yet untapped area of biological diversity of worm-like, small, legless jumpers.

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

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

Simulated work loops predict maximal human cycling power

Fish, birds and lizards sometimes perform locomotor activities with maximized muscle power. Whether humans maximize muscle power is unknown because current experimental techniques cannot be applied non-invasively. This study leveraged simulated muscle work loops to examine whether voluntary maximal cycling is characterized by maximized muscle power. The simulated work loops used experimentally measured joint angles, anatomically realistic muscle parameters (muscle-tendon lengths, velocities and moment arms) and a published muscle model to calculate power and force for 38 muscles. For each muscle, stimulation onset and offset were optimized to maximize muscle work and power for the complete shortening/lengthening cycle. Simulated joint power and total leg power (i.e. summed muscle power) were compared with previously reported experimental joint and leg power. Experimental power values were closely approximated by simulated maximal power for the leg [intraclass correlation coefficient (ICC)=0.91], the hip (ICC=0.92) and the knee (ICC=0.95), but less closely for the ankle (ICC=0.74). Thus, during maximal cycling, humans maximize muscle power at the hip and knee, but the ankle acts to transfer (instead of maximize) power. Given that only the timing of muscle stimulation onset and offset were altered, these results suggest that human motor control strategies may optimize muscle activation to maximize power. The simulations also provide insight into biarticular muscle function by demonstrating that the power values at each joint spanned by a biarticular muscle can be substantially greater than the net power produced by the muscle. Our work-loop simulation technique may be useful for examining clinical deficits in muscle power production.

Energy and time optimal trajectories in exploratory jumps of the spider Phidippus regius

Jumping spiders are proficient jumpers that use jumps in a variety of behavioural contexts. We use high speed, high resolution video to measure the kinematics of a single regal jumping spider for a total of 15 different tasks based on a horizontal gap of 2–5 body lengths and vertical gap of +/−2 body lengths. For short range jumps, we show that low angled trajectories are used that minimise flight time. For longer jumps, take-off angles are steeper and closer to the optimum for minimum energy cost of transport. Comparison of jump performance against other arthropods shows that Phidippus regius is firmly in the group of animals that use dynamic muscle contraction for actuation as opposed to a stored energy catapult system. We find that the jump power requirements can be met from the estimated mass of leg muscle; hydraulic augmentation may be present but appears not to be energetically essential.

Scaling of work and power in a locomotor muscle of a frog

Muscle work and power are important determinants of movement performance in animals. How these muscle properties scale determines, in part, the scaling of performance during movements, such as jump height or distance. Muscle-mass-specific work is predicted to remain constant across a range of scales, assuming geometric similarity, while muscle-mass-specific power is expected to decrease with increasing scale. We tested these predictions by examining muscle morphology and contractile properties of plantaris muscles from frogs ranging in mass from 1.28 to 20.60 g. Scaling of muscle work and power was examined using both linear regression on log₁₀-transformed data (LR) and non-linear regressions on untransformed data (NLR). Results depended on the method of regression not because of large changes in scaling slopes, but because of changing levels of statistical significance using corrections for multiple tests, demonstrating the importance of careful consideration of statistical methods when analyzing patterns of scaling. In LR, muscle-mass-specific work decreased with increasing scale, but an accompanying positive allometry of muscle mass predicts constant movement performance at all scales. These relationships were non-significant in NLR, though scaling with geometric similarity also predicts constant jump performance across scales, because of proportional increases in available muscle energy and body mass. Both intrinsic shortening velocity and muscle-mass-specific power were positively allometric in both types of analysis. Nonetheless, scale accounts for little variation in contractile properties overall over the range examined, indicating that other sources of intraspecific variation may be more important in determining muscle performance and its effects on movement.

Three dimensional reconstruction of energy stores for jumping in planthoppers and froghoppers from confocal laser scanning microscopy

Jumping in planthopper and froghopper insects is propelled by a catapult-like mechanism requiring mechanical storage of energy and its quick release to accelerate the hind legs rapidly. To understand the functional biomechanics involved in these challenging movements, the internal skeleton, tendons and muscles involved were reconstructed in 3-D from confocal scans in unprecedented detail. Energy to power jumping was generated by slow contractions of hind leg depressor muscles and then stored by bending specialised elements of the thoracic skeleton that are composites of the rubbery protein resilin sandwiched between layers of harder cuticle with air-filled tunnels reducing mass. The images showed that the lever arm of the power-producing muscle changed in magnitude during jumping, but at all joint angles would cause depression, suggesting a mechanism by which the stored energy is released. This methodological approach illuminates how miniaturized components interact and function in complex and rapid movements of small animals.

DOI:http://dx.doi.org/10.7554/eLife.23824.001

Jumping performance of flea hoppers and other mirid bugs (Hemiptera, Miridae)

The order Hemiptera includes jumping insects with the fastest take-off velocities, all generated by catapult mechanisms. It also contains the large family Miridae or plant bugs. Here, we analysed the jumping strategies and mechanisms of six mirid species from high-speed videos and from the anatomy of their propulsive legs, and conclude that they use a different mechanism in which jumps are powered by the direct contractions of muscles. Three strategies were identified. First, jumping was propelled only by movements of the middle and hind legs, which were, respectively, 140% and 190% longer than the front legs. In three species with masses ranging from 3.4 to 12.2 mg, depression of the coxo-trochanteral and extension of femoro-tibial joints accelerated the body in 8-17 ms to take-off velocities of 0.5-0.8 m s^-1 The middle legs lost ground contact 5-6 ms before take-off so that the hind legs generated the final propulsion. The power requirements could be met by the direct muscle contractions so that catapult mechanisms were not implicated. Second, other species combined the same leg movements with wing beating to generate take-off during a wing downstroke. Third, up to four wingbeat cycles preceded take-off and were not assisted by leg movements. Take-off velocities were reduced and acceleration times lengthened. Other species from the same habitat did not jump. The lower take-off velocities achieved by powering jumping by direct muscle contractions may be offset by eliminating the time taken to load catapult mechanisms.

Take-off mechanisms in parasitoid wasps

High speed video analyses of the natural behaviour of parasitoid wasps revealed three strategies used to launch themselves into the air. Which strategy is the most energy efficient? In Pteromalus puparum, 92% of take-offs by were propelled entirely by movements of the middle and hind legs which were depressed at their coxo-trochanteral and extended at their femoro-tibial joints. The front legs left the ground first, followed by the hind legs, so that the middle legs provided the final propulsion. Second, in other species of a similar mass, Cotesia glomerata and Leptopilina boulardi, all take-offs were propelled by a mean of 2.8 and 3.8 wingbeats respectively with little or no contribution from the legs. The first strategy resulted in take-off times that were four times shorter (5 versus 22.8 ms) and take-off velocities that were four times faster (0.8 versus 0.2 m s–1). Calculations from the kinematics indicate that propulsion by the legs was the most energy efficient strategy, because more energy is put into propulsion of the body, whereas in take-off propelled by repetitive wing movements energy is lost to generating these movements and moving the air. In heavier species such as Netelia testacea and Amblyteles armatorius, take-off was propelled by the combined movements of the middle and hind legs and wingbeats. In A. armatorius, this resulted in the longest mean take-off time of 33.8 ms but an intermediate take-off velocity of 0.4 m s–1. In all three strategies the performance could be explained without invoking energy storage and power amplification mechanisms.

Swim and fly. Escape strategy in neustonic and planktonic copepods

Copepods may respond to predators by powerful escape jumps that in some surface dwelling forms may propel the copepod out of the water. We studied the kinematics and energetics of submerged and out-of-water jumps of two neustonic pontellid Anomalocera patersoni and Pontella mediterranea and one pelagic calanoid copepod Calanus helgolandicus (euxinus). We show that jumping out of the water does not happen just by inertia gained during the copepod's acceleration underwater, but also requires the force generated by the thoracic limbs when breaking through the water's surface to overcome surface tension, drag, and gravity. Such timing appears necessary for success. At the moment of breaking the water interface the instantaneous velocity of the two pontellids reaches 125 cm s−1, while their maximum underwater speed (115 cm s−1) is close to that of similarly sized C. helgolandicus (106 cm s−1). The average specific powers produced by the two pontellids during out-of-water jumps (1700-3300 W kg−1 muscle mass) is close to that during submerged jumps (900-1600 kg−1 muscle mass) and, in turn, similar to that produced during submerged jumps of C. helgolandicus (1300 W kg−1 muscle mass).The pontellids may shake off water adhering to their body by repeated strokes of the limbs during flight, which imparts them a slight acceleration in the air. Our observations suggest that out-of-water jumps of pontellids are not dependent on any exceptional ability to perform this behavior but have the same energetic cost and are based on the same kinematic patterns and contractive capabilities of muscles as those of copepods swimming submerged.

Mitochondrial metabolism: a driver of energy utilisation and product quality?

High feed efficiency is a very desirable production trait as it positively influences resource utilisation, profitability and environmental considerations, albeit at the possible expense of product quality. The modern broiler is arguably the most illustrative model species as it has been transformed over the past half century into an elite feed converter. Some producers are currently reporting that 42-day-old birds gain 1 kg of wet weight for every 1.35 kg of dry weight consumed. Its large breast muscle is exclusively composed of large, low mitochondrial-content Type IIB fibres, which may contribute to low maintenance costs and high efficiency. In an effort to gain a better understanding of individual variation in chicken feed efficiency, our group has been exploring the biology of the mitochondrion at multiple levels of organisation. The mitochondrion is the organelle where much biochemical energy transformation occurs in the cell. Using Cobb-Vantress industrial birds as our primary experimental resource, we have explored the tissue content, structure and function of the mitochondrion and its relationship to growth, development, efficiency and genetic background. While much remains to be understood, recent highlights include (1) variation in muscle mitochondrial content that is associated with performance phenotypes, (2) altered muscle mitochondrial gene and protein expression in birds differing in feed efficiency, (3) variation in isolated mitochondrial function in birds differing in feed efficiency and (4) evidence for an unexpected role for the mitochondrially localised progesterone receptor in altering bird muscle metabolism. Mitochondrial function is largely conserved across the vertebrates, so the same metabolic principles appear to apply to the major production species, whether monogastric or ruminant. A speculative role for the mitochondria in aspects of meat quality and in influencing postmortem anaerobic metabolism will conclude the manuscript.

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.

Spring or string: does tendon elastic action influence wing muscle mechanics in bat flight?

Tendon springs influence locomotor movements in many terrestrial animals, but their roles in locomotion through fluids as well as in small-bodied mammals are less clear. We measured muscle, tendon and joint mechanics in an elbow extensor of a small fruit bat during ascending flight. At the end of downstroke, the tendon was stretched by elbow flexion as the wing was folded. At the end of upstroke, elastic energy was recovered via tendon recoil and extended the elbow, contributing to unfurling the wing for downstroke. Compared with a hypothetical 'string-like' system lacking series elastic compliance, the tendon spring conferred a 22.5% decrease in muscle fascicle strain magnitude. Our findings demonstrate tendon elastic action in a small flying mammal and expand our understanding of the occurrence and action of series elastic actuator mechanisms in fluid-based locomotion.

Take-off speed in jumping mantises depends on body size and a power-limited mechanism

Many insects such as fleas, froghoppers and grasshoppers use a catapult mechanism to jump, and a direct consequence of this is that their take-off velocities are independent of their mass. In contrast, insects such as mantises, caddis flies and bush crickets propel their jumps by direct muscle contractions. What constrains the jumping performance of insects that use this second mechanism? To answer this question, the jumping performance of the mantis Stagmomantis theophila was measured through all its developmental stages, from 5 mg first instar nymphs to 1200 mg adults. Older and heavier mantises have longer hind and middle legs and higher take-off velocities than younger and lighter mantises. The length of the propulsive hind and middle legs scaled approximately isometrically with body mass (exponent=0.29 and 0.32, respectively). The front legs, which do not contribute to propulsion, scaled with an exponent of 0.37. Take-off velocity increased with increasing body mass (exponent=0.12). Time to accelerate increased and maximum acceleration decreased, but the measured power that a given mass of jumping muscle produced remained constant throughout all stages. Mathematical models were used to distinguish between three possible limitations to the scaling relationships: first, an energy-limited model (which explains catapult jumpers); second, a power-limited model; and third, an acceleration -: limited model. Only the model limited by muscle power explained the experimental data. Therefore, the two biomechanical mechanisms impose different limitations on jumping: those involving direct muscle contractions (mantises) are constrained by muscle power, whereas those involving catapult mechanisms are constrained by muscle energy.

Intra-specific variation in wing morphology and its impact on take-off performance in blue tits (Cyanistes caeruleus) during escape flights

Diurnal and seasonal increases in body mass and seasonal reductions in wing area may compromise a bird's ability to escape, as less of the power available from the flight muscles can be used to accelerate and elevate the animal's centre of mass. Here, we investigated the effects of intra-specific variation in wing morphology on escape take-off performance in blue tits (Cyanistes caeruleus). Flights were recorded using synchronised high-speed video cameras and take-off performance was quantified as the sum of the rates of change of the kinetic and potential energies of the centre of mass. Individuals with a lower wing loading, WL (WL=body weight/wing area) had higher escape take-off performance, consistent with the increase in lift production expected from relatively larger wings. Unexpectedly, it was found that the total power available from the flight muscles (estimated using an aerodynamic analysis) was inversely related to WL. This could simply be because birds with a higher WL have relatively smaller flight muscles. Alternatively or additionally, variation in the aerodynamic load on the wing resulting from differences in wing morphology will affect the mechanical performance of the flight muscles via effects on the muscle's length trajectory. Consistent with this hypothesis is the observation that wing beat frequency and relative downstroke duration increase with decreasing WL; both are factors that are expected to increase muscle power output. Understanding how wing morphology influences take-off performance gives insight into the potential risks associated with feather loss and seasonal and diurnal fluctuations in body mass.

Summary: Blue tits with relatively larger wings have higher escape take-off performance, indicating that moult could increase the risk of predation.

Jumping mechanisms in adult caddis flies (Insecta, Trichoptera)

To understand the jumping mechanisms and strategies of adult caddis flies, leg morphology and movements were analysed in three species with mean masses of 3.9 to 38 mg. Two distinct jumping strategies were found. First (67% of 90 jumps), take-off was propelled solely by the middle and hind legs while the wings remained closed. Second (33% of jumps), the same leg movements were combined with wing movements before take-off. The hind legs were 70% and the middle legs were 50% longer than the front legs and represented 105% and 88%, respectively, of body length. Both hind and middle trochantera were depressed together, approximately 15 ms before take-off. The front legs apparently did not contribute to thrust in either strategy and were the first to be lifted from the ground. The hind legs were the next to lose contact, so that the middle legs alone provided the final thrust before take-off. Jumping performance did not differ significantly in the two jumping strategies or between species, in acceleration times (range of means for the three species 14.5–15.4 ms), take-off velocities (range 0.7–1 m s−1) and trajectory angles. A significant difference in jumps propelled only by the legs was the lower angle (9.3±1.9 deg) of the body relative to the horizontal at take-off compared with jumps involving wing movements (35.3±2.5 deg). Calculations from the kinematics indicated that jumps were produced by direct muscle contractions and did not require power amplification or energy storage.

Trade-offs between performance and variability in the escape responses of bluegill sunfish (Lepomis macrochirus)

Successful predator evasion is essential to the fitness of many animals. Variation in escape behaviour may be adaptive as it reduces predictability, enhancing escape success. High escape velocities and accelerations also increase escape success, but biomechanical factors likely constrain the behavioural range over which performance can be maximized. There may therefore be a trade-off between variation and performance during escape responses. We have used bluegill sunfish (Lepomis macrochirus) escape responses to examine this potential trade-off, determining the full repertoire of escape behaviour for individual bluegill sunfish and linking this to performance as indicated by escape velocity and acceleration. Fish escapes involve an initial C-bend of the body axis, followed by variable steering movements. These generate thrust and establish the escape direction. Directional changes during the initial C-bend were less variable than the final escape angle, and the most frequent directions were associated with high escape velocity. Significant inter-individual differences in escape angles magnified the overall variation, maintaining unpredictability from a predator perspective. Steering in the latter stages of the escape to establish the final escape trajectory also affected performance, with turns away from the stimulus associated with reduced velocity. This suggests that modulation of escape behaviour by steering may also have an associated performance cost. This has important implications for understanding the scope and control of intra- and inter-individual variation in escape behaviour and the associated costs and benefits.

Jumping mechanisms and strategies in moths (Lepidoptera)

To test whether jumping launches moths into the air, take-off by 58 species, ranging in mass from 0.1 to 220 mg, was captured in videos at 1000 frames s−1. Three strategies for jumping were identified. First, rapid movements of both middle and hind legs provided propulsion while the wings remained closed. Second, middle and hind legs again provided propulsion but the wings now opened and flapped after take-off. Third, wing and leg movements both began before take-off and led to an earlier transition to powered flight. The middle and hind legs were of similar lengths and were between 10 and 130% longer than the front legs. The rapid depression of the trochantera and extension of the middle tibiae began some 3 ms before similar movements of the hind legs, but their tarsi lost contact with the ground before take-off. Acceleration times ranged from 10 ms in the lightest moths to 25 ms in the heaviest ones. Peak take-off velocities varied from 0.6 to 0.9 m s−1 in all moths, with the fastest jump achieving a velocity of 1.2 m s−1. The energy required to generate the fastest jumps was 1.1 µJ in lighter moths but rose to 62.1 µJ in heavier ones. Mean accelerations ranged from 26 to 90 m s−2 and a maximum force of 9 g was experienced. The highest power output was within the capability of normal muscle so that jumps were powered by direct contractions of muscles without catapult mechanisms or energy storage.

Jumping mechanisms in lacewings (Neuroptera, Chrysopidae and Hemerobiidae)

Lacewings launch themselves into the air by simultaneous propulsive movements of the middle and hind legs as revealed in video images captured at a rate of 1000 s(-1). These movements were powered largely by thoracic trochanteral depressor muscles but did not start from a particular preset position of these legs. Ridges on the lateral sides of the meso- and metathorax fluoresced bright blue when illuminated with ultraviolet light, suggesting the presence of the elastic protein resilin. The middle and hind legs were longer than the front legs but their femora and tibiae were narrow tubes of similar diameter. Jumps were of two types. First, those in which the body was oriented almost parallel to the ground (-7±8 deg in green lacewings, 13.7±7 deg in brown lacewings) at take-off and remained stable once animals were airborne. The wings did not move until 5 ms after take-off when flapping flight ensued. Second, were jumps in which the head pointed downwards at take-off (green lacewings, -37±3 deg; brown lacewings, -35±4 deg) and the body rotated in the pitch plane once airborne without the wings opening. The larger green lacewings (mass 9 mg, body length 10.3 mm) took 15 ms and the smaller brown lacewings (3.6 mg and 5.3 mm) 9 ms to accelerate the body to mean take-off velocities of 0.6 and 0.5 m s(-1). During their fastest jumps green and brown lacewings experienced accelerations of 5.5 or 6.3 G: , respectively. They required an energy expenditure of 5.6 or 0.7 μJ, a power output of 0.3 or 0.1 mW and exerted a force of 0.6 or 0.2 mN. The required power was well within the maximum active contractile limit of normal muscle, so that jumping could be produced by direct muscle contractions without a power amplification mechanism or an energy store.

The elaborate plumage in peacocks is not such a drag

One of the classic examples of an exaggerated sexually selected trait is the elaborate plumage that forms the train in male peafowl Pavo cristatus (peacock). Such ornaments are thought to reduce locomotor performance as a result of their weight and aerodynamic drag, but this cost is unknown. Here, the effect that the train has on take-off flight in peacocks was quantified as the sum of the rates of change of the potential and kinetic energies of the body (PCoM) in birds with trains and following the train's removal. There was no significant difference between PCoM in birds with and without a train. The train incurs drag during take-off; however, while this produces a twofold increase in parasite drag, parasite power only accounts for 0.1% of the total aerodynamic power. The train represented 6.9% of body weight and is expected to increase induced power. The absence of a detectable effect on take-off performance does not necessarily mean that there is no cost associated with possessing such ornate plumage; rather, it suggests that given the variation in take-off performance per se, the magnitude of any effect of the train has little meaningful functional relevance.

Jumping mechanisms in flatid planthoppers (Hemiptera, Flatidae)

The jumping performance of three species of hemipterans from Australia and Europe belonging to the family Flatidae, were analysed from images captured at a rate of 5000 s-1. The shape of a flatid was dominated by large triangular or wedge-shaped front wings which, when folded, covered and extended above and behind the body to give a laterally compressed and possibly streamlined appearance. Body length of the three species of adults ranged from 7 to 9 mm and their mass from 8 to 19 mg. The propulsive hind legs were 30% longer than the front legs but only 36-54% of body length. Jumps with the fastest take-off velocities of 2.8-3.2 m s-1 had acceleration times of 1.4-1.8 ms. During such jumps adults experienced an acceleration of 174 - 200 g. These jumps required an energy expenditure of 76-225 μJ, a power output of 13-60 mW and exerted a force of 9-37 mN. The required power output per mass of jumping muscle in adults ranged from 24,000 to 27,000 W kg-1 muscle, 100 times greater than the maximum active contractile limit of normal muscle. The free-living nymphs were also proficient jumpers, reaching take-off velocities of 2.2 m s-1. To achieve such a jumping performance requires a power amplification mechanism. The energy store for such a mechanism was identified as the internal skeleton linking a hind coxa to the articulation of a hind wing. These pleural arches fluoresced bright blue when illuminated with ultraviolet light indicating the presence of the elastic protein resilin. The energy generated by the prolonged contractions of the trochanteral depressor muscles was stored in distortions of these structures and their rapid elastic recoil powered the synchronous propulsive movements of the hind legs.

Slowly contracting muscles power the rapid jumping of planthopper insects (Hemiptera, Issidae)

The planthopper insect Issus produces one of the fastest and most powerful jumps of any insect. The jump is powered by large muscles that are found in its thorax and that, in other insects, contribute to both flying and walking movements. These muscles were therefore analysed by transmission electron microscopy to determine whether they have the properties of fast-acting muscle used in flying or those of more slowly acting muscle used in walking. The muscle fibres are arranged in a parallel bundle that inserts onto an umbrella-shaped tendon. The individual fibres have a diameter of about 70 μm and are subdivided into myofibrils a few micrometres in diameter. No variation in ultrastructure was observed in various fibres taken from different parts of the muscle. The sarcomeres are about 15 μm long and the A bands about 10 μm long. The Z lines are poorly aligned within a myofibril. Mitochondrial profiles are sparse and are close to the Z lines. Each thick filament is surrounded by 10-12 thin filaments and the registration of these arrays of filaments is irregular. Synaptic boutons from the two excitatory motor neurons to the muscle fibres are characterised by accumulations of ~60 translucent 40-nm-diameter vesicle profiles per section, corresponding to an estimated 220 vesicles, within a 0.5-μm hemisphere at a presynaptic density. All ultrastructural features conform to those of slow muscle and thus suggest that the muscle is capable of slow sustained contractions in keeping with its known actions during jumping. A fast and powerful movement is thus generated by a slow muscle.

Jumping mechanisms in dictyopharid planthoppers (Hemiptera, Dicytyopharidae)

The jumping performance of four species of hemipteran bugs belonging to the family Dictyopharidae, from Europe, South Africa and Australia were analysed from high speed images. The body shape in all was characterised by an elongated and tapering head that gave a streamlined appearance. The body size ranged from 6-9 mm in length and 6-23 mg in mass. The hind legs were 80-90 % of body length and 30-50% longer than the front legs, except in one species in which the front legs were particularly large so that all the legs were of similar lengths. Jumping was propelled by rapid and simultaneous depression of the trochantera of both hind legs, powered by large muscles in the thorax and was accompanied by extension of the tibiae. In the best jumps, defined as those with the fastest take-off velocity, Engela accelerated in 1.2 ms to a take-off velocity of 5.8 m s-1 which is the fastest achieved by any insect so far described. During such a jump, Engela experienced an acceleration of 4830 m s-2 or 490 g while other species in the same family experienced 225 - 375 g. The best jumps in all species required an energy expenditure of 76 - 225 μJ, a power output of 12 - 80 mW and exerted a force of 12 - 29 mN. The required power output per mass of jumping muscle ranged from 28000 - 140200 W kg-1 muscle and thus greatly exceeded the maximum active contractile limit of normal muscle. To achieve such a jumping performance, these insects must be using a power amplification mechanism in a catapult-like action. It is suggested that their streamlined body shape improves jumping performance by reducing drag, which for a small insect, can substantially affect forward momentum.

Jumping from the surface of water by the long-legged fly Hydrophorus (Diptera, Dolichopodidae)

The fly, Hydrophorus that is 4 mm long and has a mass of 4.7 mg moves around upon and jumps from water without its tarsi penetrating the surface. All 6 tarsi have a surface area of 1.3 mm-2 in contact with the water but did not dimple its surface when standing. Jumping was propelled by depression of the trochantera and extension of the tibiae of both hind and middle legs which are 40% longer than the front legs and 170% longer than the body. As these four legs progressively propelled the insect to take-off, they each created dimples on the water surface that expanded in depth and area. No dimples were associated with the front legs, which were not moved in a consistent sequence. The wings opened while the legs were moving and then flapped at a frequency of 148 Hz. The body was accelerated in a mean time of 21 ms to a mean take-off velocity of 0.7 m s-1. The best jumps reached velocities of 1.6 m s-1, required an energy output of 7 µJ and a power output of 0.6 mW, with the fly experiencing a force of 140 g. The required power output indicates that direct muscle contractions could propel the jump without the need for elaborate mechanisms for energy storage. Take-off trajectories were steep with a mean of 87 degrees to the horizontal. Take-off velocity fell if a propulsive tarsus penetrated the surface of the water. If more tarsi became submerged, take-off was not successful. A second strategy for take-off was powered only by the wings and was associated with slower (1 degree ms-1 compared with 10 degrees ms-1 when jumping) and less extensive movements of the propulsive joints of the middle and hind legs. No dimples were then created on the surface of the water. When jumping was combined with wing flapping, the acceleration time to take-off was reduced by 84 % and the take-off velocity was increased by 168 %. Jumping can potentially therefore enhance survival when threatened by a potential predator.

Jumping mechanisms in gum treehopper insects (Hemiptera, Eurymelinae)

Jumping in a species of Australian gum treehopper was analysed from high speed images. Adults and nymphs of Pauroeurymela amplicincta lived together in groups that were tended by ants, but only adults jumped. The winged adults with a body mass of 23 mg and a body length of 7 mm had some morphological characteristics intermediate between those of their close relatives the leafhoppers (Cicadellidae) and the treehoppers (Membracidae). They, like leafhoppers, lacked the prominent prothoracic helmets of membracid treehoppers, but their large hind coxae were linked by press studs (poppers), that are present in leafhoppers but not treehoppers. The hind legs were only 30-40% longer than the other legs and 67% of body length. They are thus of similar proportions to the hind legs of treehoppers but much shorter than those of most leafhoppers. Jumping was propelled by the hind legs, that moved in the same plane as each other beneath and almost parallel to the longitudinal axis of the body. A jump was preceded by full levation of the coxo-trochanteral joints of the hind legs. In its best jumps, the rapid depression of these joints then accelerated the insect in 1.4 ms to a take-off velocity of 3.8 m s-1 so that it experienced a force of almost 280 g. In 22% of jumps, the wings opened before take-off but did not flap until airborne when the body rotated little in any plane. The energy expended was 170 µJ, the power output was 122 mW, and the force exerted was 64 mN. Such jumps are predicted to propel the insect forwards 1450 mm (200 times body length) and to a height of 430 mm if there is no effect of wind resistance. The power output per mass of jumping muscle far exceeded the maximum active contractile limit of muscle and indicates that a catapult-like action must be used. This eurymelid therefore outperforms both leafhoppers and treehoppers in its faster acceleration and in its higher take-off velocity.

Swimming away or clamming up: the use of phasic and tonic adductor muscles during escape responses varies with shell morphology in scallops

The simple locomotor system of scallops facilitates the study of muscle use during locomotion. We compared five species of scallops with different shell morphologies to see whether shell morphology and muscle use change in parallel or whether muscle use can compensate for morphological constraints. Force recordings during escape responses revealed that the use of tonic and phasic contractions varied markedly among species. The active species, Amusium balloti, Placopecten magellanicus and Pecten fumatus, made more phasic contractions than the more sedentary species, Mimachlamys asperrima and Crassadoma gigantea. Tonic contractions varied considerably among these species, with the two more sedentary species often starting their response to the predator with a tonic contraction and the more active species using shorter tonic contractions between series of phasic contractions. Placopecten magellanicus made extensive use of short tonic contractions. Pecten fumatus mounted an intense series of phasic contractions at the start of its response, perhaps to overcome the constraints of its unfavourable shell morphology. Valve closure by the more sedentary species suggests that their shell morphology protects them against predation, whereas swimming by the more active species relies upon intense phasic contractions together with favourable shell characteristics.

Jumping mechanisms in jumping plant lice (Hemiptera, Sternorrhyncha, Psyllidae)

Jumping mechanisms and performance were analysed in three species of psyllids (Hemiptera, Sternorrhyncha) that ranged from 2 to 4 mm in body length and from 0.7 to 2.8 mg in mass. Jumping was propelled by rapid movements of the short hind legs, which were only 10-20% longer than the other legs and 61-77% of body length. Power was provided by large thoracic muscles that depressed the trochantera so that the two hind legs moved in parallel planes on either side of the body. These movements accelerated the body to take-off in 0.9 ms in the smallest psyllid and 1.7 ms in the largest, but in all species imparted a rapid forward rotation so that at take-off the head pointed downwards, subtending angles of approximately -60 deg relative to the ground. The front legs thus supported the body just before take-off and either lost contact with the ground at the same time as, or even after, the hind legs. In the best jumps from the horizontal, take-off velocity reached 2.7 m s(-1) and the trajectory was steep at 62-80 deg. Once airborne, the body spun rapidly at rates of up to 336 Hz in the pitch plane. In many jumps, the wings did not open to provide stabilisation, but some jumps led directly to sustained flight. In their best jumps, the smallest species experienced a force of 637 g. The largest species had an energy requirement of 13 μJ, a power output of 13 mW and exerted a force of nearly 10 mN. In a rare jumping strategy seen in only two of 211 jumps analysed, the femoro-tibial joints extended further and resulted in the head pointing upwards at take-off and the spin rate being greatly reduced.

Effect of crank length on joint-specific power during maximal cycling

Previous investigators have suggested that crank length has little effect on overall short-term maximal cycling power once the effects of pedal speed and pedaling rate are accounted for. Although overall maximal power may be unaffected by crank length, it is possible that similar overall power might be produced with different combinations of joint-specific powers. Knowing the effects of crank length on joint-specific power production during maximal cycling may have practical implications with respect to avoiding or delaying fatigue during high-intensity exercise.

PURPOSE

The purpose of this study was to determine the effect of changes in crank length on joint-specific powers during short-term maximal cycling.

METHODS

Fifteen trained cyclists performed maximal isokinetic cycling trials using crank lengths of 150, 165, 170, 175, and 190 mm. At each crank length, participants performed maximal trials at pedaling rates optimized for maximum power and at a constant pedaling rate of 120 rpm. Using pedal forces and limb kinematics, joint-specific powers were calculated via inverse dynamics and normalized to overall pedal power.

RESULTS

ANOVAs revealed that crank length had no significant effect on relative joint-specific powers at the hip, knee, or ankle joints (P > 0.05) when pedaling rate was optimized. When pedaling rate was constant, crank length had a small but significant effect on hip and knee joint power (150 vs 190 mm only) (P < 0.05).

CONCLUSIONS

These data demonstrate that crank length does not affect relative joint-specific power once the effects of pedaling rate and pedal speed are accounted for. Our results thereby substantiate previous findings that crank length per se is not an important determinant of maximum cycling power production.

The effects of asymmetric length trajectories on the initial mechanical efficiency of mouse soleus muscles

Asymmetric cycles with more than half of the cycle spent shortening enhance the mechanical power output of muscle during flight and vocalisation. However, strategies that enhance muscle mechanical power output often compromise efficiency. In order to establish whether a trade-off necessarily exists between power and efficiency, we investigated the effects of asymmetric muscle length trajectories on the maximal mechanical cycle-average power output and initial mechanical efficiency (Ei). Work and heat were measured in vitro in a mouse soleus muscle undergoing contraction cycles with 25% (Saw25%), 50% (Saw50%) and 75% (Saw75%) of the cycles spent shortening. Cycle-average power output tended to increase with the proportion of the cycle spent shortening at a given frequency. Maximum cycle-average power output was 102.9±7.6 W kg–1 for Saw75% cycles at 5 Hz. Ei was very similar for Saw50% and Saw75% cycles at all frequencies (approximately 0.27 at 5 Hz). Saw25% cycles had Ei values similar to those of Saw50% and Saw75% cycles at 1 Hz (approximately 0.20), but were much less efficient at 5 Hz (0.08±0.03). The lower initial mechanical efficiency of Saw25% cycles at higher frequencies suggests that initial mechanical efficiency is reduced if the time available for force generation and relaxation during shortening is insufficient. The similar initial mechanical efficiency of Saw50% and Saw75% cycles at all frequencies shows that increasing the proportion of the contraction cycle spent shortening is a strategy that allows an animal to increase muscle mechanical power output without compromising initial mechanical efficiency.

Jumping mechanisms of treehopper insects (Hemiptera, Auchenorrhyncha, Membracidae)

The kinematics and jumping performance of treehoppers (Hemiptera, Auchenorrhyncha, Membracidae) were analysed from high speed images. The 8 species analysed had an 11 fold range of body mass (3.8 mg to 41 mg) and a 2 fold range of body lengths (4.1 to 8.4 mm). Body shape was dominated by a prothoracic helmet that projected dorsally and posteriorly over the body, and in some species forwards to form a protruding horn. Jumping was propelled by rapid depression of the trochantera of the hind legs. The hind legs were only 30 – 60 % longer than the front and middle legs, and 47 – 94% the length of the body in different species. They were slung beneath the body and moved together in the same plane. In preparation for a jump, the hind legs were initially levated and rotated forwards so that the femora were pressed into indentations of the coxae. The tibiae were flexed about the femora and the tarsi were placed on the ground directly beneath the lateral edges of the abdomen. Movements of the front and middle legs adjusted the angle of the body relative to the ground, but for most treehoppers this angle was small so that the body was almost parallel to the ground. The rapid depression of the hind legs accelerated the body to take-off in 1.2 ms in the lighter treehoppers and 3.7 ms in the heavier ones. Take-off velocities of 2.1 – 2.7 m s-1 were achieved and were not correlated with body mass. In the best jumps, these performances involved accelerations of 560 – 2450 m s-2 (g forces of 47- 250), an energy expenditure of 13.5 – 101 µJ, a power output of 12 – 32 mW and exerted a force or 9.5 – 29 mN. The power output per mass of muscle far exceeds the maximum active contractile limit of normal muscle. Such requirements indicate that treehoppers must be using a power amplification mechanism in a catapult-like action. Some jumps were preceded by flapping movements of the wings, but the propulsive movements of the hind legs were critical in achieving take-off.

A cockroach that jumps

We report on a newly discovered cockroach (Saltoblattella montistabularis) from South Africa, which jumps and therefore differs from all other extant cockroaches that have a scuttling locomotion. In its natural shrubland habitat, jumping and hopping accounted for 71 per cent of locomotory activity. Jumps are powered by rapid and synchronous extension of the hind legs that are twice the length of the other legs and make up 10 per cent of the body weight. In high-speed images of the best jumps the body was accelerated in 10 ms to a take-off velocity of 2.1 m s(-1) so that the cockroach experienced the equivalent of 23 times gravity while leaping a forward distance of 48 times its body length. Such jumps required 38 µJ of energy, a power output of 3.4 mW and exerted a ground reaction force through both hind legs of 4 mN. The large hind legs have grooved femora into which the tibiae engage fully in advance of a jump, and have resilin, an elastic protein, at the femoro-tibial joint. The extensor tibiae muscles contracted for 224 ms before the hind legs moved, indicating that energy must be stored and then released suddenly in a catapult action to propel a jump. Overall, the jumping mechanisms and anatomical features show remarkable convergence with those of grasshoppers with whom they share their habitat and which they rival in jumping performance.

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

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

Biomechanics of jumping in the flea

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

On the size and flight diversity of giant pterosaurs, the use of birds as pterosaur analogues and comments on pterosaur flightlessness

The size and flight mechanics of giant pterosaurs have received considerable research interest for the last century but are confused by conflicting interpretations of pterosaur biology and flight capabilities. Avian biomechanical parameters have often been applied to pterosaurs in such research but, due to considerable differences in avian and pterosaur anatomy, have lead to systematic errors interpreting pterosaur flight mechanics. Such assumptions have lead to assertions that giant pterosaurs were extremely lightweight to facilitate flight or, if more realistic masses are assumed, were flightless. Reappraisal of the proportions, scaling and morphology of giant pterosaur fossils suggests that bird and pterosaur wing structure, gross anatomy and launch kinematics are too different to be considered mechanically interchangeable. Conclusions assuming such interchangeability--including those indicating that giant pterosaurs were flightless--are found to be based on inaccurate and poorly supported assumptions of structural scaling and launch kinematics. Pterosaur bone strength and flap-gliding performance demonstrate that giant pterosaur anatomy was capable of generating sufficient lift and thrust for powered flight as well as resisting flight loading stresses. The retention of flight characteristics across giant pterosaur skeletons and their considerable robustness compared to similarly-massed terrestrial animals suggest that giant pterosaurs were not flightless. Moreover, the term 'giant pterosaur' includes at least two radically different forms with very distinct palaeoecological signatures and, accordingly, all but the most basic sweeping conclusions about giant pterosaur flight should be treated with caution. Reappraisal of giant pterosaur material also reveals that the size of the largest pterosaurs, previously suggested to have wingspans up to 13 m and masses up to 544 kg, have been overestimated. Scaling of fragmentary giant pterosaur remains have been misled by distorted fossils or used inappropriate scaling techniques, indicating that 10-11 m wingspans and masses of 200-250 kg are the most reliable upper estimates of known pterosaur size.