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.     

Antibody labelling of resilin in energy stores for jumping in plant sucking insects

The rubbery protein resilin appears to form an integral part of the energy storage structures that enable many insects to jump by using a catapult mechanism. In plant sucking bugs that jump (Hemiptera, Auchenorrhyncha), the energy generated by the slow contractions of huge thoracic jumping muscles is stored by bending composite bow-shaped parts of the internal thoracic skeleton. Sudden recoil of these bows powers the rapid and simultaneous movements of both hind legs that in turn propel a jump. Until now, identification of resilin at these storage sites has depended exclusively upon characteristics that may not be specific: its fluorescence when illuminated with specific wavelengths of ultraviolet (UV) light and extinction of that fluorescence at low pH. To consolidate identification we have labelled the cuticular structures involved with an antibody raised against a product of the Drosophila CG15920 gene. This encodes pro-resilin, the first exon of which was expressed in E. coli and used to raise the antibody. We show that in frozen sections from two species, the antibody labels precisely those parts of the metathoracic energy stores that fluoresce under UV illumination. The presence of resilin in these insects is thus now further supported by a molecular criterion that is immunohistochemically specific.     

Structure of the coxa and homeosis of legs in Nematocera (Insecta: Diptera)

Construction of the middle and hind coxae was investigated in 95 species of 30 nematoceran families. As a rule, the middle coxa contains a separate coxite, the mediocoxite, articulated to the sternal process. In most families, this coxite is movably articulated to the eucoxite and to the distocoxite area; the coxa is radially split twice. Some groups are characterized by a single split. The coxa in flies is restricted in its rotation owing to a partial junction either between the meron and the pleurite or between the eucoxite and the meropleurite. Hence the coxa is fastened to the thorax not only by two pivots (to the pleural ridge and the sternal process), but at the junction named above. Rotation is impossible without deformations; the role of hinges between coxites is to absorb deformations. This adaptive principle is confirmed by physical modelling. Middle coxae of limoniid tribes Eriopterini and Molophilini are compact, constructed by the template of hind coxae. On the contrary, hind coxae in all families of Mycetophiloidea and in Psychodidae s.l. are constructed like middle ones, with the separate mediocoxite, centrally suspended at the sternal process. These cases are considered as homeotic mutations, substituting one structure with a no less efficient one.     

Muscle dynamics differences between legs in healthy adults

Differences in muscle dynamics between the preferred and nonpreferred jumping legs of subjects in maximal, explosive exercise were examined. Eight subjects performed nonfatiguing bouts of single-legged drop jumps and rebound jumps on a force sledge apparatus. Measures of flight time, reactive strength index, peak vertical force, and vertical leg-spring stiffness were obtained for 3 drop jumps and 3 rebound jumps on both legs. Subjects utilized a stiffer leg spring and a more explosive jumping action in the nonpreferred leg when performing a cyclical rebound jumping task in comparison to a single drop jump task (observed through differences in vertical leg-spring stiffness, peak vertical force, and reactive strength index, p < 0.05). The preferred leg performed equally well in both tasks. Between-leg analysis showed no differences in dependent variables between the preferred and the nonpreferred leg in the rebound jumping protocol. However, the drop jump protocol showed significant performance differences, with flight time and reactive strength index greater in the preferred leg than the nonpreferred leg (p < 0.05). We hypothesize that, throughout the lifespan, both legs are equally trained in cyclical rebound jumping tasks through running. However, because a preferred leg must be selected when performing any one-off, single-legged jump, imbalances in this specific task develop over time with consistent selection of a preferred jumping leg. The data demonstrate that the rebound jump protocol is representative of the symmetrical mechanics of forward running and that leg-spring stiffness is modulated depending on the demands of the specific task involved. Strength and conditioning practitioners should give careful consideration to appropriate jump protocol selection and should exercise caution when comparing laboratory results to data gathered in field testing.     

Long,smooth hair sensilla on the spider leg coxa: Sensory physiology,central projection pattern,and proprioceptive function (Arachnida,Araneida)

Summary Rows of long, smooth hair sensilla situated on both sides of the leg coxae were examined in the spider Cupiennius salei (Ctenidae). The hair shafts point into the space between adjacent legs and are deflected when the hairs of one coxa touch the cuticle of the neighboring coxa. 1. Unlike the serrated hair shafts of the ubiquitous tactile and chemosensitive setae of spiders, these hairs are entirely smooth. At their base they are articulated in a socket with an asymmetrical groove that determines the direction of hair deflection. Hair shafts are up to 1000 m long. The exact grouping of smooth hairs in rows is typical of the coxae for each pair of legs. 2. Unlike the other, multiply innervated cuticular sensilla of spiders, smooth hairs are supplied by only a single mechanosensitive neuron. This is confirmed by electrophysiological recordings from single hairs. Threshold deflection to elicit a spike response lies near 1°. The response to maintained, step-like stimuli declines rapidly. 3. All central endings of these hair receptors in the fused segmental ganglia are confined to dorsal neuropil of the ipsilateral neuromere. The specific arborization pattern resembles an elongated, three-pronged fork with a long central prong. Topography, natural stimulus situation, and the phasic response characteristic of smooth hairs suggest that spiders use these sensilla to monitor the relative distance between leg coxae during locomotion.     

Jumping mechanisms and performance in beetles. II. Weevils (Coleoptera: Curculionidae: Rhamphini)

We describe the kinematics and performance of the natural jump in the weevil Orchestes fagi (Fabricius, 1801) (Coleoptera: Curculionidae) and its jumping apparatus with underlying anatomy and functional morphology. In weevils, jumping is performed by the hind legs and involves the extension of the hind tibia. The principal structural elements of the jumping apparatus are (1) the femoro-tibial joint, (2) the metafemoral extensor tendon, (3) the extensor ligament, (4) the flexor ligament, (5) the tibial flexor sclerite and (6) the extensor and flexor muscles. The kinematic parameters of the jump (from minimum to maximum) are 530–1965 m s^?2 (acceleration), 0.7–2.0 m s^?1 (velocity), 1.5–3.0 ms (time to take-off), 0.3–4.4 μJ (kinetic energy) and 54–200 (g-force). The specific joint power as calculated for the femoro-tibial joint during the jumping movement is 0.97 W g^?1. The full extension of the hind tibia during the jump was reached within up to 1.8–2.5 ms. The kinematic parameters, the specific joint power and the time for the full extension of the hind tibia suggest that the jump is performed via a catapult mechanism with an input of elastic strain energy. A resilin-bearing elastic extensor ligament that connects the extensor tendon and the tibial base is considered to be the structure that accumulates the elastic strain energy for the jump. According to our functional model, the extensor ligament is loaded by the contraction of the extensor muscle, while the co-contraction of the antagonistic extensor and flexor muscles prevents the early extension of the tibia. This is attributable to the leverage factors of the femoro-tibial joint providing a mechanical advantage for the flexor muscles over the extensor muscles in the fully flexed position. The release of the accumulated energy is performed by the rapid relaxation of the flexor muscles resulting in the fast extension of the hind tibia propelling the body into air.     

Jumping kinematics in the wandering spider Cupiennius salei

Spiders use hemolymph pressure to extend their legs. This mechanism should be challenged when required to rapidly generate forces during jumping, particularly in large spiders. However, effective use of leg muscles could facilitate rapid jumping. To quantify the contributions of different legs and leg joints, we investigated jumping kinematics by high-speed video recording. We observed two different types of jumps following a disturbance: prepared and unprepared jumps. In unprepared jumps, the animals could jump in any direction away from the disturbance. The remarkable directional flexibility was achieved by flexing the legs on the leading side and extending them on the trailing side. This behaviour is only possible for approximately radial-symmetric leg postures, where each leg can fulfil similar functions. In prepared jumps, the spiders showed characteristic leg positioning and the jumps were directed anteriorly. Immediately after a preliminary countermovement in which the centre of mass was moved backwards and downwards, the jump was executed by extending first the fourth and then the second leg pair. This sequence provided effective acceleration to the centre of mass. At least in the fourth legs, the hydraulic and the muscular mechanism seem to interact to generate ground reaction forces.     

The mechanics of elevation control in locust jumping

How do animals control the trajectory of ballistic motions like jumping? Targeted jumps by a locust, which are powered by a rapid extension of the tibiae of both hind legs, require control of the take-off angle and speed. To determine how the locust controls these parameters, we used high speed images of jumps and mechanical analysis to reach three conclusions: (1) the extensor tibiae muscle applies equal and opposite torques to the femur and tibia, which ensures that tibial extension accelerates the centre of mass of the body along a straight line; (2) this line is parallel to a line drawn from the distal end of the tibia through the proximal end of the femur; (3) the slope of this line (the angle of elevation) is not affected if the two hind legs extend asynchronously. The mechanics thus uncouple the control of elevation and speed, allowing simplified and independent control mechanisms. Jump elevation is controlled mechanically by the initial positions of the hind legs and jump speed is determined by the energy stored within their elastic processes, which allows us to then propose which proprioceptors are involved in controlling these quantities.     

Friction and adhesion in the tarsal and metatarsal scopulae of spiders

Friction and adhesion forces of the ventral surface of tarsi and metatarsi were measured in the bird spider Aphonopelma seemanni (Theraphosidae) and the hunting spider Cupiennius salei (Ctenidae). Adhesion measurements revealed no detectable attractive forces when the ventral surfaces of the leg segments were loaded and unloaded against the flat smooth glass surface. Strong friction anisotropy was observed: friction was considerably higher during sliding in the distal direction. Such anisotropy is explained by an anisotropic arrangement of microtrichia on setae: only the setal surface facing in the distal direction of the leg is covered by the microtrichia with spatula-like tips. When the leg is pushed, the spatula-shaped tips of microtrichia contact the substrate, whereas, when the leg is pulled over a surface, setae bend in the opposite direction and contact the substrate with their spatulae-lacking sides. In an additional series of experiments, it was shown that desiccation has an effect on the friction force. Presumably, drying of the legs results in reduction of the flexibility of the setae, microtrichia, spatulae, and underlying cuticle; this diminishes the ability to establish proper contact with the substrate and thus reduces the contact forces.     

Evolution of the middle leg basal articulations in flies (Diptera)

The morphology of the coxa and trochanter was studied in 205 species from 68 fly families to compare these structures with respect to ability to fly in a streamlined posture, with the middle legs pointing forward and pressed to the thorax. Only Brachycera are able to attain this posture. The forward turn of the coxa at this position is hindered by the junction of the coxa with the pleuron. Recovery of mobility is gained in two ways. (1) By reduction of the contact zone between coxa and pleurite, as in Asiloidea, Bombyloidea, and Empidoidea. Within these flies, the streamlined posture was recorded in Bombyliidae and in a robber-fly, Laphria flava . Others fly with their middle legs straddled laterally or trailing backwards. (2) Longitudinal splitting of the coxa into three coxites provides intracoxal mobility in most Tabanoidea and Cyclorrhapha. The hind and medial coxites rotate about the front coxite and change the coxo-trochanteral axis, thus compensating for restricted protraction. Separation of the hind coxite appears in primitive Tabanoidea, and a separate middle coxite was found in several families among the Nematocera. The streamlined posture was recorded in horse-flies, stratiomyids, and in many Cyclorrhapha except Micropezidae and Hippoboscidae. There is morphological evidence for a possible secondary fusion of coxites at least in Dolichopodidae and Opetidae as well as for the origin of Cyclorrhapha from a miniature ancestor.     

Osteochondrosis / Osteoarthrosis and Claw Disorders in Sows,Associated with Leg Weakness

The objective of this study was to investigate the associations between different leg weakness symptoms and osteochondrosis/osteoarthrosis and claw disorders in sows together with the influence of age on these findings. One hundred and seventeen sows in one herd were followed from 6 months of age until culling and judged for leg weakness once in every gestation using a scale from 1 (normal) to 4 (severe changes). At slaughter changes in joints, growth plates and claws were scored on a scale from 1 (normal) to 5 (very severe changes). Osteoarthrotic changes were strongly associated with osteochondral changes in humeral and femoral condyles. The clinical signs of osteochondrosis and osteoarthrosis were found to be: buck-kneed forelegs, turn out of fore and hind legs, upright pasterns on hind legs, stiff locomotion, lameness and tendency to slip. The clinical signs of claw lesions were found to be: buck-kneed forelegs, upright pasterns, steep hock joints, turn out of hind legs, standing under position on hind legs, stiff movements, swaying hindquarters, goose-stepping hind legs, tendency to slip and lameness. Overgrown claws were strongly associated with leg weakness indicating the need for claw trimming in sow populations.     

Mechanisms of stick insect locomotion in a gap-crossing paradigm

Locomotion of stick insects climbing over gaps of more than twice their step length has proved to be a useful paradigm to investigate how locomotor behaviour is adapted to external conditions. In this study, swing amplitudes and extreme positions of single steps from gap-crossing sequences have been analysed and compared to corresponding parameters of undisturbed walking. We show that adaptations of the basic mechanisms concern movements of single legs as well as the coordination between the legs. Slowing down of stance velocity, searching movements of legs in protraction and the generation of short steps are crucial prerequisites in the gap-crossing task. The rules of leg coordination described for stick insect walking seem to be modified, and load on the supporting legs is assumed to have a major effect on coordination especially in slow walking. Stepping into the gap with a front leg and antennal contact with the far edge of the gap provide information, as both events influence the following leg movements, whereas antennal non-contact seems not to contain information. Integration of these results into the model of the walking controller can improve our understanding of insect locomotion in highly irregular environments.Abbreviations AEP anterior extreme position - fAEP fictive anterior extreme position - PEP posterior extreme position - TOT treading-on-tarsus     

Tight turns in stick insects

We investigated insects Carausius morosus walking whilst hanging upside down along a narrow 3 mm horizontal beam. At the end of the beam, the animal takes a 180° turn. This is a difficult situation because substrate area is small and moves relative to the body during the turn. We investigated how leg movements are organised during this turn. A non-contact of either front leg appears to indicate the end of the beam. However, a turn can only begin if the hind legs stand in an appropriate position relative to each other; the outer hind leg must not be placed posterior to the inner hind leg. When starting the turn, both front legs are lifted and usually held in a relatively stable position and then the inner middle leg performs a swing-and-search movement: The leg begins a swing, which is continued by a searching movement to the side and to the rear, and eventually grasps the beam. At the same time the body is turned usually being supported by the outer middle leg and both hind legs. Then front legs followed by the outer middle leg reach the beam. A scheme describing the turns based on a few simple behavioural elements is proposed.     

Motor innervation within supernumerary legs of cockroaches.

1. Clusters of legs having prothoracic and metathoracic origins were grown from the metathoracic coxa of the cockroach. 2. Or occasionally two, of the three major nerves innervating the cockroach leg. 3. Stimulation of a particular leg nerve (no. 3, 5 or 6) evoked movement at the same joints and in the same directions in a leg having only one nerve as in a normal leg. 4. Stimulation of a particular metathoracic nerve generally produced the same movements in a prothoracic leg transplanted to the metathoracic site as it did in a regenerated or intact metathoracic leg.     

A dynamic model of thoracic differentiation for the control of turning in the stick insect

Leg movements of stick insects (Carausius morosus) making turns towards visual targets are examined in detail, and a dynamic model of this behaviour is proposed. Initial results suggest that front legs shape most of the body trajectory, while the middle and hind legs just follow external forces (Rosano H, Webb B, in The control of turning in real and simulated stick insects, vol. 4095, pp 145–156, 2006). However, some limitations of this explanation and dissimilarities in the turning behaviour of the insect and the model were found. A second set of behavioural experiments was made by blocking front tarsi to further investigate the active role of the other legs for the control of turning. The results indicate that it is necessary to have different roles for each pair of legs to replicate insect behaviour. We demonstrate that the rear legs actively rotate the body while the middle legs move sideways tangentially to the hind inner leg. Furthermore, we show that on average the middle inner and hind outer leg contribute to turning while the middle outer leg and hind inner leg oppose body rotation. These behavioural results are incorporated into a 3D dynamic robot simulation. We show that the simulation can now replicate more precisely the turns made by the stick insect. This work was supported by CONACYT México and the European Commission under project FP6-2003-IST2-004690 SPARK.     

Identified nonspiking interneurons in leg reflexes and during walking in the stick insect

In the stick insect Carausius morosus identified nonspiking interneurons (type E4) were investigated in the mesothoracic ganglion during intraand intersegmental reflexes and during searching and walking.In the standing and in the actively moving animal interneurons of type E4 drive the excitatory extensor tibiae motoneurons, up to four excitatory protractor coxae motoneurons, and the common inhibitor 1 motoneuron (Figs. 1–4).In the standing animal a depolarization of this type of interneuron is induced by tactile stimuli to the tarsi of the ipsilateral front, middle and hind legs (Fig. 5). This response precedes and accompanies the observed activation of the affected middle leg motoneurons. The same is true when compensatory leg placement reflexes are elicited by tactile stimuli given to the tarsi of the legs (Fig. 6).During forward walking the membrane potential of interneurons of type E4 is strongly modulated in the step-cycle (Figs.8–10). The peak depolarization occurs at the transition from stance to swing. The oscillations in membrane potential are correlated with the activity profile of the extensor motoneurons and the common inhibitor 1 (Fig. 9).The described properties of interneuron type E4 in the actively behaving animal show that these interneurons are involved in the organization and coordination of the motor output of the proximal leg joints during reflex movements and during walking.Abbreviations CLP reflex, compensatory leg placement reflex - CI1 common inhibitor I motoneuron - fCO femoral chordotonal organ - FETi fast extensor tibiae motoneuron - FT femur-tibia - SETi slow extensor tibiae motoneuron     

Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis : I. Slow running

We have combined high-speed video motion analysis of leg movements with electromyogram (EMG) recordings from leg muscles in cockroaches running on a treadmill. The mesothoracic (T2) and metathoracic (T3) legs have different kinematics. While in each leg the coxa-femur (CF) joint moves in unison with the femur-tibia (FT) joint, the relative joint excursions differ between T2 and T3 legs. In T3 legs, the two joints move through approximately the same excursion. In T2 legs, the FT joint moves through a narrower range of angles than the CF joint. In spite of these differences in motion, no differences between the T2 and T3 legs were seen in timing or qualitative patterns of depressor coxa and extensor tibia activity. The average firing frequencies of slow depressor coxa (Ds) and slow extensor tibia (SETi) motor neurons are directly proportional to the average angular velocity of their joints during stance. The average Ds and SETi firing frequency appears to be modulated on a cycle-by-cycle basis to control running speed and orientation. In contrast, while the frequency variations within Ds and SETi bursts were consistent across cycles, the variations within each burst did not parallel variations in the velocity of the relevant joints. Accepted: 24 May 1997     

Position-dependent sensitivity and density of taste receptors on the locust leg underlies behavioural effectiveness of chemosensory stimulation

Chemical stimulation of contact chemoreceptors located on the legs of locusts evokes withdrawal movements of the leg. The likelihood of withdrawal depends on the site of stimulation, in addition to the identity and concentration of the chemical stimulus. A significantly higher percentage of locusts exhibit leg avoidance movements in response to stimulation of distal parts of the leg with any given chemical stimulus compared to proximal sites. Moreover, the percentage of locusts exhibiting avoidance movements is correlated with the density and sensitivity of chemoreceptors on different sites of an individual leg. The effectiveness of chemical stimulation also differs between the fore and hind legs, with NaCl evoking a higher probability of leg withdrawal movements on the foreleg. Moreover, sucrose was less effective than NaCl at evoking withdrawal movements of the foreleg, particularly at low concentrations. The gradients in behavioural responses can be partially attributed to differences in the responsiveness and density of the contact chemoreceptors. These results may reflect the different specialization of individual legs, with the forelegs particularly involved in food selection.     

Interspecific,ontogenetic, and sexual variation in ozopore morphology among cosmetid harvestmen (Arachnida,Opiliones, Laniatores)

The ozopores of cosmetid harvestmen rest upon lateral projections of the carapace, have simple or highly reduced channels, and are partially obscured by enlarged dorsal processes associated with coxae I and II. Rather than use scent gland secretions to form a chemical shield on the dorsum, the cosmetid harvestman exhibits a unique defensive behavior known as “leg dabbing” in which the distal tip of tarsus I or II is dipped into fluid that accumulate at the base of coxa II and the droplet on the tarsus is pointed toward the predator. Relatively little is known about interspecific variation in ozopore morphology among cosmetid harvestmen. In this study, we used scanning electron microscopy to examine the ozopores of males and females of nine species as well as those of antepenultimate nymphs for two species. Among adults, we found differences between species in the shapes of the ozopores (round or subtriangular), the morphology of the dorsal and lateral channels (if present), and the relative size, shape and armature of the dorsal posterior process (dpp) of coxa I and the dorsal anterior process (dap) of coxa II. Our observations suggest that the morphology of dpp I and dap II could be sources for systematic characters in future phylogenetic studies of the Cosmetidae. We observed ontogenetic differences but relatively little intersexual variation in the morphology of the ozopore. The ozopores of nymphs are generally more oval than those of adults and the opening of the ozopore of the nymph is less obstructed, if at all, by the dorsal coxal processes of legs I–II. These morphological differences suggest that nymphs may use scent gland secretions in a manner different from that of adults.     

Sensory control of leg movement in the stick insect Carausius morosus

Hind legs with crossed receptor-apodemes of the femoral chordotonal organ when making a step during walking often do not release the ground after reaching the extreme posterior position. After putting a clamp on the trochanter (stimulation of the campaniform sensilla) the leg is no longer protracted during walking. However, during searching-movements the same leg is moved very far forwards. The anatomical situation of the campaniform sensilla on the trochanter and the sensory innervation of the trochanter is described. After removal of the hair-rows and continuously stimulating the hair-plate at the thorax-coxa-joint the extreme anterior and posterior positions of the leg in walking are displaced in the posterior direction. Front and middle legs operated in this way sometimes do not release the ground at the end of retraction. In searching-movements the same leg is moved in a normal way. If only one side of a decerebrated animal goes over a step, then on the other side a compensatory effect is observed. The main source of this compensatory information appears to be the BF1-hair-plates. If the animal has to drag a weight the extreme anterior and posterior positions of the middle and hind legs are displaced in the anterior direction. Crossing the receptor-apodeme of the femoral chordotonal organ, when it causes the leg to remain in the protraction phase, displaces the extreme posterior position of the ipsilateral leg in front of the operated one in the posterior direction. Influences of different sources on the extreme posterior position can superimpose. A model is presented which combines both a central programme and peripheral sensory influence. The word programme used here means that it does not only determine the motor output but also determines the reactions to particular afferences. The fact that the reaction to a stimulus depends on the internal state of the CNS is also represented by the model.Supported by Deutsche Forschungsgemeinschaft