Proprioceptive feedback in locust kicking and jumping during maturation

Campaniform sensilla monitor the forces generated by the leg muscles during the co-contraction phase of locust (Schistocerca gregaria) kicking and jumping and re-excite the fast extensor (FETi) and flexor tibiae motor neurones, which innervate the leg muscles. Sensory signals from a campaniform sensillum on the proximal tibia were compared in newly moulted locusts, which do not kick and jump, and mature locusts which readily kick and jump. The activity pattern of FETi during co-contraction was mimicked by stimulating the extensor tibiae muscle. Less force was generated and the spike frequency of the sensory neurone from the sensillum was significantly lower in newly moulted compared to mature locusts. Depolarisation of both FETi and flexor motor neurones as a result of sensory feedback was consequently less in newly moulted than in mature locusts. The difference in the depolarisation was greater than the decrease in the afferent spike frequency suggesting that the central connections of the afferents are modulated. The depolarisation could generate spikes in FETi and maintain flexor spikes in mature but not in newly moulted locusts. This indicates that feedback from the anterior campaniform sensillum comprises a significant component of the drive to both FETi and flexor activity during co-contraction in mature animals and that the changes in this feedback contribute to the developmental change in behaviour.Abbreviations aCS anterior campaniform sensillum - ETi extensor tibiae - FETi fast extensor tibiae motor neurone - FlTi flexor tibiae - pCS posterior campaniform sensillum     

Avoidance reflexes mediated by contact chemoreceptors on the legs of locusts

Taste receptors, or basiconic sensilla, are distributed over the legs of the locust and respond to direct contact with chemical stimulants. The same chemosensory neurones that responded to contact with salt solutions also responded to particular acidic odours. Odours of food and other chemicals had no effect on the chemosensory neurones. In locusts free to move, an acid odour presented to the tarsus of a hind leg evoked a rapid avoidance movement in which the tarsus was levated, the tibia flexed and the femur levated. Intracellular recordings from motor neurones that innervate muscles of the hind leg showed that when an acid odour was directed towards basiconic sensilla on the leg there was a reciprocal activation of antagonistic motor pools that move the leg segments about each joint. Thus an extensor tibiae motor neurone was inhibited while a flexor tibiae motor neurone was excited, and the tarsal depressor and retractor unguis motor neurones were inhibited while the tarsal levator motor neurone was excited. This method of odour stimulation of taste receptors generates less adaptation than direct contact with chemicals, and therefore represents an ideal method for stimulating taste receptors for further studies on the central pathways processing taste signals. Accepted: 2 June 1998     

Octopaminergic modulation of locust motor neurones

The effect of octopamine on the fast extensor and the flexor tibiae motor neurones in the locust (Schistocerca gregaria) metathoracic ganglion, and also on synaptic transmission from the fast extensor to the flexor motor neurones, was examined. Bath application or ionophoresis of octopamine depolarized and increased the excitability of the flexor tibiae motor neurones. 1 mM octopamine reduced the amplitude of the fast extensor-evoked EPSP in the slow but not the fast flexor motor neurones, whereas 10 mM octopamine could reduce the EPSP amplitude in both. Octopamine broadened the fast extensor action potential and reduced the amplitude of the afterhyperpolarization, the modulation requiring feedback resulting from movement of the tibia. Octopamine also increased the frequency of synaptic inputs onto the tibial motor neurones, and could cause rhythmic activity in the flexor motor neurones, and reciprocal activity in flexor and extensor motor neurones. Octopamine also increased the frequency of spontaneous spiking in the octopaminergic dorsal unpaired median neurones. Repetitive stimulation of unidentified dorsal unpaired median neurones could mimic some of the effects of octopamine. However, no synaptic connections were found between dorsal unpaired median neurones and the tibial motor neurones. The diverse effects of octopamine support its role in mediating arousal.     

Adaptive reconfiguration of a reflex circuit during different motor programmes in the locust

The cuticle strain which develops in the hindleg tibiae when a locust prepares to kick, or when the tibia thrusts against an obstacle, is detected by two campaniform sensilla, which reflexly excite the fast extensor tibiae motoneuron, some of the flexor tibiae motoneurons and nonspiking interneurons. The reflex excitation is adaptive for the extensor motoneuron during both co-activation and thrusting, but is only adaptive for the flexor motoneurons during co-activation, and is maladaptive during thrusting. We show that the femoral chordotonal organ, which monitors tibial position, controls the efficacy of the strain feedback. The campaniform sensilla-induced depolarization in the extensor motoneuron is about twice as large when the tendon is in mid position (reflecting a tibial-femoral angle of 90°) than when fully stretched (reflecting tibial flexion), while in the flexors the reverse is true. The amplitudes of excitatory postsynaptic potentials evoked by single campaniform sensilla spikes, are, however, not affected. Our data suggests that the chordotonal organ modulates the gain of the strain feedback onto the motoneurons by exciting interneuronal circuits whose output sums with the former. Thrusting typically occurs with the tibia partially extended, therefore the actions of the chordotonal organ support the production of a maximal thrusting force. Accepted: 27 December 1996     

Excitatory interactions between antagonistic motor neurones underlying locust kicking and jumping during maturation after the adult moult

There is a change in the synaptic connections between motor neurones that underlie locust kicking and jumping during maturation following the adult moult. The fast extensor tibiae (FETi) motor neurone makes monosynaptic excitatory connections with flexor tibiae motor neurones that have previously been implicated in maintaining flexor activity during the co-contraction phase of jumping, in which energy generated by the muscles of a hind leg is stored. The amplitude of the FETi spike decreases when repetitively activated, and this decrement is larger in locusts immediately following the adult moult than in mature locusts. The decrement in␣the FETi spike is correlated with a greater decrease in the amplitude of the flexor excitatory postsynaptic potential (EPSP) in newly moulted locusts and in turn with the failure of these locusts to kick or jump. The results presented here indicate that the developmental change in the connections between the motor neurones contributes to the change in behaviour following the moult. Accepted: 28 April 1997     

Anatomy and physiology of trochanteral campaniform sensilla in the stick insect, Cuniculina impigra

ABSTRACT. Four groups of campaniform sensilla are found on the trochanter of Cuniculina impigra Tedtenbacher (Phasmidae). One of these groups can be divided into two sub-groups. The sensilla are approximately parallel within each group or sub-group. As sensilla with parallel orientation will respond to the same direction of shear force, each group or sub-group of campaniform sensilla should act as one unit. When the coxa is fixed, activity in the nerve supplying the campaniform sensilla can be released by bending the femur forwards and backwards. The sensilla are sensitive to movement only in one direction. The investigated sensilla react to the stimulus with phasic-tonic discharge patterns. The dependence of the phasic component upon the velocity of the stimulus can be described by a power function. The tonic component depends on the amplitude of the stimulus. By mechanical stimulation of individual groups of sensilla it can be shown that at least two groups of campaniform sensilla contain units which respond to bending the femur backwards. The activity of some motor neurones can be influenced by slightly bending the leg in the horizontal plane. The levator trochanteris muscle is activated when the femur is bent forwards, and the frequency of the slow extensor tibiae motor neurone is increased when the femur is bent backwards. The reaction of both muscles is phasic. There is no detectable reaction in the protractor or the retractor of the coxa or the depressor trochanteris.     

Direct excitation of nonspiking local interneurones by exteroceptors underlies tactile reflexes in the locust

Summary Tactile stimulation of a leg of the locustSchistocerca gregaria can lead to specific reflex movements of that leg. At the same time nonspiking interneurones that are presynaptic to the participating motor neurones are excited or inhibited, suggesting that they are directly involved in these reflexes. The afferent pathways mediating these effects have been examined by recording from individual afferents and nonspiking interneurones.Afferent spikes fromtrichoid orcampaniform sensilla on specific regions of a leg evoke chemically-mediated EPSPs with a constant central latency of about 1.5 ms in certain nonspiking interneurones. The branches of an interneurone and the afferents from which it receives inputs overlap in the neuropil of the ganglion.No afferents have been found to evoke IPSPs directly in the nonspiking interneurones. Instead the inhibition is caused by a population of spiking local interneurones that are themselves excited directly by the afferents, and whose spikes evoke IPSPs in certain nonspiking interneurones.The tactile reflexes can involve movements about one or more joints of the leg, and these coordinated responses are explained by the participation of specific nonspiking interneurones that distribute the sensory inputs to the appropriate sets of motor neurones. For example, when hairs on the dorsal surface of a tarsus are touched, the tarsus is levated. This reflex involves nonspiking local interneurones which are excited directly by these hair afferents and which make direct excitatory connections with the single levator tarsi motor neurone.     

The network producing the “active reaction” of stick insects is a functional element of different pattern generating systems

Elongation of the femoral chordotonal organ (signalling a flexion movement of the femur-tibia joint) in stick insects being active releases the active reaction (AR) in the extensor and flexor motor neurones. The AR was released in hindlegs in a situation where free animals would preferentially walk backwards. In most cases the coordination between extensor-flexor and the retractor unguis muscle was like in a stance phase of backward walking. In a situation where free animals would preferentially walk forwards, the percentage of ARs was smaller, and resistance reflexes became more frequent. When campaniform sensilla of the hind leg were destroyed coordinations like in a swing phase of forward walking became more frequent. — Additional stimuli during searching movements in an artificially closed femur-tibia feedback system (Weiland et al. 1986) showed that the AR is expressed also under these conditions and controls velocity and endpoint of a flexion movement. All results support the idea that the neural system producing the AR is a functional element of the pattern generator for forward walking, of the one for backward walking and of the one for searching movements. As far as this system is concerned the three pattern generators only differ in the kind of coordinating pathways between constant functional elements.     

Reflex modulation in locusts walking on a treadwheel intracellular recordings from motoneurons

Summary In locusts (Locusta migratoria) walking on a treadwheel, afferents of tarsal hair sensilla were stimulated via chronically implanted hook electrodes (Fig. 1). Stimuli applied to the middle leg tarsus elicited avoidance reflexes (Fig. 2). In quiescent animals, the leg was lifted off the ground and the femur adducted. In walking locusts, the response was phase-dependent. During the stance phase, no reaction was observed except occasional, premature triggering of swing movements; stimuli applied near the end of the swing phase were able to elicit an additional, short leg protraction.Central nervous correlates of phase-dependent reflex modulation were observed by recording intracellularly from motoneuron somata in walking animals. As a rule, motoneurons recruited during the swing phase showed excitatory stimulus-related responses around the end of the swing movement, correlated to the triggering of additional leg protractions (Figs. 3, 4, 5). Motoneurons active during the stance phase were often inhibited by tarsal stimulation, some showed only weak responses (Figs. 8, 9, 10). Common inhibitory motoneuron 1 was excited by tarsal stimulation during all phases of the leg movement (Figs. 6, 7). In one type of flexor tibiae motoneuron, a complex response pattern was observed, involving the inversion of stimulus-related synaptic potentials from excitatory, recorded during rest, to inhibitory, observed during long-lasting stance phases (Figs. 11, 12).The results demonstrate how reflex modulation is represented on the level of synaptic input to motoneurons. They further suggest independent gain control in parallel, antagonistic pathways converging onto the same motoneuron as a mechanism for reflex reversal during locomotion.Abbreviations CI ₁ common inhibitory motoneuron (1) - EMG electromyogram - Feti fast extensor muscle of the tibia     

Motor patterns during kicking movements in the locust

Locusts (Schistocerca gregaria) use a distinctive motor pattern to extend the tibia of a hind leg rapidly in a kick. The necessary force is generated by an almost isometric contraction of the extensor tibiae muscle restrained by the co-contraction of the flexor tibiae (co-contraction phase) and aided by the mechanics of the femoro-tibial joint. The stored energy is delivered suddenly when the flexor muscle is inhibited. This paper analyses the activity of motor neurons to the major hind leg muscles during kicking, and relates it to tibial movements and the resultant forces.During the co-contraction phase flexor tibiae motor neurons are driven by apparently common sources of synaptic inputs to depolarized plateaus at which they spike. The two excitatory extensor motor neurons are also depolarized by similar patterns of synaptic inputs, but with the slow producing more spikes at higher frequencies than the fast. Trochanteral depressors spike at high frequency, the single levator tarsi at low frequency, and common inhibitors 2 and 3 spike sporadically. Trochanteral levators, depressor tarsi, and a retractor unguis motor neuron are hyperpolarized.Before the tibia extends all flexor motor neurons are hyperpolarized simultaneously, two common inhibitors, and the levator trochanter and depressor tarsi motor neurons are depolarized. Later, but still before the tibial movement starts, the extensor tibiae and levator tarsi motor neurons are hyperpolarized. After the movement has started, the extensor motor neurons are hyperpolarized further and the depressor trochanteris motor neurons are also hyperpolarized, indicating a contribution of both central and sensory feedback pathways.Variations in the duration of the co-contraction of almost twenty-fold, and in the number of spikes in the fast extensor tibiae motor neuron from 2–50 produce a spectrum of tibial extensions ranging from slow and weak, to rapid and powerful. Flexibility in the networks producing the motor pattern therefore results in a range of movements suited to the fluctuating requirements of the animal.     

Glutamatergic transmission between antagonistic motor neurones in the locust

The pharmacology of the direct central connections between the fast extensor and flexor motor neurones of a locust (Schistocerca gregaria) hind leg was studied. A spike in the fast extensor produces an EPSP in the flexor motor neurones. Glutamate depolarized the flexor motor neurones when injected into the neuropil. Quisqualate, but not by kainate or NMDA, also depolarized the flexor motor neurones. The fast extensor was also depolarized by glutamate, and also by kainate, but not by quisqualate, AMPA or NMDA. The glutamate response in the flexor motor neurones and the EPSP evoked by a spike in FETi both had similar reversal potentials. The FETi-evoked EPSP was blocked by bath application of the glutamate antagonist glutamic acid diethyl ester. The responses of extrasynaptic somata receptors to glutamate were compared to the neuropil responses. Glutamate usually hyperpolarized the somata of FETi and the flexor motor neurones. The response of a flexor motor neurone to glutamate was abolished at potentials less negative than -90 mV. The results provide evidence for glutamate transmission at central synapses in the locust, and show that presumed synaptic receptors in the neuropil differ to the extrasynaptic soma response     

Axonal degeneration within the tympanal nerve of Schistocerca gregaria

This study describes time course and ultrastructural changes during axonal degeneration of different neurones within the tympanal nerve of the locust Schistocerca gregaria. The tympanal nerve innervates the tergit and pleurit of the first abdominal segment and contains the axons of both sensory and motor neurones. The majority of axons (approx. 97%) belong to several types of sensory neurones: mechano- and chemosensitive hair sensilla, multipolar neurones, campaniform sensilla and sensory cells of a scolopidial organ, the auditory organ. Axons of campaniform sensilla, of auditory sensory cells and of motor neurones are wrapped by glial cell processes. In contrast, the very small and numerous axons (diameter <1 microm) of multipolar neurones and hair sensilla are not separated individually by glia sheets. Distal parts of sensory and motor axons show different reactions to axotomy: 1 week after separation from their somata, distal parts of motor axons are invaded by glial cell processes. This results in fascicles of small axon bundles. In contrast, distal parts of most sensory axons degenerate rapidly after being lesioned. The time to onset of degeneration depends on distance from the lesion site and on the type of sensory neurone. In axons of auditory sensory neurones, ultrastructural signs of degeneration can be found as soon as 2 days after lesion. After complete lysis of distal parts of axons, glial cell processes invade the space formerly occupied by sensory axons. The rapid degeneration of distal auditory axon parts allows it to be excluded that they provide a structure that leads regenerating axons to their targets. Proximal parts of severed axons do not degenerate.     

Parallel processing of proprioceptive information in the terminal abdominal ganglion of the crayfish

The processing of proprioceptive information from the exopodite-endopodite chordotonal organ in the tailfan of the crayfish Procambarus clarkii (Girard) is described. The chordotonal organ monitors relative movements of the exopodite about the endopodite. Displacement of the chordotonal strand elicits a burst of sensory spikes in root 3 of the terminal ganglion which are followed at a short and constant latency by excitatory postsynaptic potentials in interneurones. The afferents make excitatory monosynaptic connections with spiking and nonspiking local interneurones and intersegmental interneurones. No direct connections with motor neurones were found.Individual afferents make divergent patterns of connection onto different classes of interneurone. In turn, interneurones receive convergent inputs from some, but not all, chordotonal afferents. Ascending and spiking local interneurones receive inputs from afferents with velocity thresholds from 2–400°/s, while nonspiking interneurones receive inputs only from afferents with high velocity thresholds (200–400°/s).The reflex effects of chordotonal organ stimulation upon a number of uropod motor neurones are weak. Repetitive stimulation of the chordotonal organ at 850°/s produces a small reduction in the firing frequency of the reductor motor neurone. Injecting depolarizing current into ascending or non-spiking local interneurones that receive direct chordotonal input produces a similar inhibition.     

Interruption of searching movements of partly restrained front legs of stick insects,a model situation for the start of a stance phase?

Stick insects (Cuniculina impigra) possessing only one foreleg with restrained coxa performed searching movements. A force transducer was introduced as an obstacle into the plane of movement of femur or tibia. Depending on where it was introduced and whether it was touched for the first time during an upward or a downward movement, different kinds of behaviour of the leg were released. For these different movements, the forces applied to the obstacle and the electrical activity of the depressor, levator, retractor and protractor muscles are described. In addition the alterations occurring after ablation of several sense organs including the trochanteral campaniform sensilla are mentioned. The described movements were similar to the corresponding behaviours during walking at the end of swing phase and the beginning of stance phase. Therefore there is some probability that results obtained by this experimental paradigm can also be applied to the swing-stance transition.     

Sensorimotor pathways processing vibratory signals from the femoral chordotonal organ of the stick insect

The femoral chordotonal organ of stick insects senses position and velocity of movements in the femur-tibia joint, as well as tibial vibration. While sensory information about large-scale tibial movements is processed by a well-known neuronal network and elicits resistance reflexes in extensor and flexor tibiae motoneurons, it is not yet known how sensory information about vibration of the tibia is processed. We investigated the transmission of vibration stimuli to tibial extensor motoneurons and their premotor interneurons. Vibration stimuli applied to the femoral chordotonal organ evoked responses in tibial extensor and flexor muscles. During ongoing vibration this response adapted rapidly. This adaptation had no effect on the motoneuronal response to large-scale tibial movements. Recording from premotor interneurons revealed that vibratory signals were processed in part by the same interneuronal pathways as (large-scale) velocity and position information. While only certain parts of the interneuronal reflex pathways showed little or no response during vibration stimuli, most neurons responded to both position or velocity stimuli and vibration at the femoral chordotonal organ. We conclude that sensory information about vibration of the tibia shares part of the interneuronal pathways that transmit sensory information about large-scale tibial movements to the motoneurons. Accepted: 25 April 1999     

Lateral giant fibre activation of exopodite motor neurones in the crayfish tailfan

The uropods of decapod crustaceans play a major role in the production of thrust during escape swimming. Here we analyse the output connections of a pair of giant interneurones, that mediate and co-ordinate swimming tail flips, on motor neurones that control the exopodite muscles of the uropods. The lateral giants make short latency output connections with phasic uropod motor neurones, including the productor, the lateral abductor and adductor exopodite motor neurones that we have identified both physiologically and anatomically. On the other hand, tonic motor neurones, including the ventral abductor and reductor exopodite motor neurones, receive no input from the lateral giants. We show that there is no simple reciprocal activation of the phasic opener (lateral abductor) and closer (adductor) motor neurones of the exopodite, but instead both phasic motor neurones are activated in parallel with the productor motor neurone during a tail flip. Our results show that the neuronal pathways activating the tonic and phasic motor neurones of the exopodite are apparently independent, with phasic motor neurones being activated during escape movements and tonic motor neurones being activated during slow postural movements.     

Effects of load inversion in cockroach walking

To examine how walking patterns are adapted to changes in load, we recorded leg movements and muscle activities when cockroaches (Periplaneta americana) walked upright and on an inverted surface. Animals were videotaped to measure the hindleg femoro-tibial joint angle while myograms were taken from the tibial extensor and flexor muscles. The joint is rapidly flexed during swing and extended in stance in upright and inverted walking. When inverted, however, swing is shorter in duration and the joint traverses a range of angles further in extension. In slow upright walking, slow flexor motoneurons fire during swing and the slow extensor in stance, although a period of co-contraction occurs early in stance. In inverted walking, patterns of muscle activities are altered. Fast flexor motoneurons fire both in the swing phase and early in stance to support the body by pulling the animal toward the substrate. Extensor firing occurs late in stance to propel the animal forward. These findings are discussed within the context of a model in which stance is divided into an early support and subsequent propulsion phase. We also discuss how these changes in use of the hindleg may represent adaptations to the reversal of the effects of gravity.     

Directional specificity and encoding of muscle forces and loads by stick insect tibial campaniform sensilla,including receptors with round cuticular caps

In many systems, loads are detected as the resistance to muscle contractions. We studied responses to loads and muscle forces in stick insect tibial campaniform sensilla, including a subgroup of receptors (Group 6B) with unusual round cuticular caps in oval-shaped collars. Loads were applied in different directions and muscle contractions were emulated by applying forces to the tibial flexor muscle tendon (apodeme). All sensilla 1) were maximally sensitive to loads applied in the plane of joint movement and 2) encoded muscle forces but did not discharge to unresisted movements. Identification of 6B sensilla by stimulation of cuticular caps demonstrated that receptor responses were correlated with their morphology. Sensilla with small cuticular collars produced small extracellular potentials, had low thresholds and strong tonic sensitivities that saturated at moderate levels. These receptors could effectively signal sustained loads. The largest spikes, derived from sensilla with large cuticular collars, had strong dynamic sensitivities and signaled a wide range of muscle forces and loads. Tibial sensilla are apparently tuned to produce no responses to inertial forces, as occur in the swing phase of walking. This conclusion is supported by tests in which animals 'stepped' on a compliant surface and sensory discharges only occurred in stance.