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.     

Positive force feedback in development of substrate grip in the stick insect tarsus

The mechanics of substrate adhesion has recently been intensively studied in insects but less is known about the sensorimotor control of substrate engagement. We characterized the responses and motor effects of tarsal campaniform sensilla in stick insects to understand how sensory signals of force could contribute to substrate grip. The tarsi consist of a chain of segments linked by highly flexible articulations. Morphological studies showed that one to four campaniform sensilla are located on the distal end of each segment. Activities of the receptors were recorded neurographically and sensilla were identified by stimulation and ablation of their cuticular caps. Responses were characterized to bending forces and axial loads, muscle contractions and to forces applied to the retractor apodeme (tendon). The tarsal sensilla effectively encoded both the rate and amplitude of loads and muscle forces, but only when movement was resisted. Mechanical stimulation of the receptors produced activation of motor neurons in the retractor unguis and tibial flexor muscles. These findings indicate that campaniform sensilla can provide information about the effectiveness of the leg muscles in generating substrate adherence. They can also produce positive force feedback that could contribute to the development of substrate grip and stabilization of the tarsal chain.     

Sensing the effect of body load in legs: responses of tibial campaniform sensilla to forces applied to the thorax in freely standing cockroaches

Sense organs in the legs that detect body weight are an important component in the regulation of posture and locomotion. We tested the abilities of tibial campaniform sensilla, receptors that can monitor forces in the cockroach leg, to encode variations in body load in freely standing animals. Small magnets were attached to the thorax and currents were applied to a coil below the substrate. Sensory and motor activities were monitored neurographically. The tibial sensilla could show vigorous discharges to changing forces when animals stood upon their legs and actively supported the body weight. Firing of individual afferents depended upon the orientation of the receptors cuticular cap: proximal sensilla (oriented perpendicular to the leg axis) discharged to force increases while distal receptors (parallel to the leg) fired to decreasing forces. Proximal sensillum discharges were prolonged and could encode the level of load when increases were sustained. Firing of the trochanteral extensor motoneuron was also strongly modulated by changing load. In some postures, sensillum discharges paralleled changes in motor frequency consistent with a known interjoint reflex. These findings demonstrate that tibial campaniform sensilla can monitor the effects of body weight upon the legs and may aid in generating support of body load.     

Dynamic responses of tibial campaniform sensilla studied by substrate displacement in freely moving cockroaches

Responses of the tibial campaniform sensilla, receptors that encode strains in the exoskeleton, were characterized by recording sensory activities during perturbations in freely standing cockroaches. The substrate upon which the animal stood was displaced horizontally using ramp and hold stimuli at varied rates. The sensilla showed short latency responses that were initiated in the first 30 ms of platform movement. Responses of individual receptors depended upon the direction of displacement and the orientation of their cuticular cap. Proximal receptors, whose caps are perpendicular to the long axis of the tibia, responded to displacements directed from the contralateral side of the body and from the head toward the abdomen. The distal sensilla, oriented parallel to the tibia, discharged at longer latency to displacements in opposite directions. Plots of receptor activity versus displacement direction showed that proximal and distal sensilla are activated in non-overlapping ranges of movement direction. Afferent responses also increased as the platform was displaced more rapidly. These results are consistent with a model in which displacements produce forces that result in bending of the tibia. This information could be utilized to detect the direction and rate of forces that occur during leg slipping or in walking on unstable terrains.     

Post-embryonic development of cuticular caps of campaniform sensilla of the cockroach leg: potential implications in scaling force detection

All animals generate progressively larger forces as they increase in size and mass. Their abilities to detect these forces must be similarly adjusted. In insects, campaniform sensilla monitor strains in the exoskeleton and provide information about forces acting upon the legs. Each sensory neuron possesses a dendrite that inserts into a cuticular cap in the exoskeleton. The cap is the site of mechanotransduction. We measured the sizes and numbers of receptor caps on the cockroach hindleg at different developmental stages. Our goal was to identify morphological features that could be correlated with the range of forces that must be detected. As cockroaches increase in size through successive molts, the number of cuticular caps in each group increases. The tibial group, for example, has two sensilla in first instar animals and 10-12 in the adult. There is also an increase in the range of cap sizes within each group. Observations of animals and their molted exoskeletons suggest that this increase occurs as the caps of existing receptors increase in size and smaller ones are added with each molt. These changes may be important in increasing the range of forces the receptors can signal while retaining sensitivity to low levels of force.     

Tuning posture to body load: decreases in load produce discrete sensory signals in the legs of freely standing cockroaches

Decreases in load are important cues in the control of posture and walking. We recorded activities of the tibial campaniform sensilla, receptors that monitor forces as strains in the exoskeleton, in the middle legs of freely moving cockroaches. Small magnets were attached to the thorax and body load was changed by applying currents to a coil below the substrate. Body position was monitored by video recording. The tibial sensilla are organized into proximal and distal subgroups that have different response properties and reflex effects: proximal sensilla excite extensor motoneurons while distal receptors inhibit extensor firing. Sudden load decreases elicited bursts from distal sensilla, while increased load excited proximal receptors. The onset of sensory discharges closely approximated the time of peak velocity of body movement in both load decreases and increases. Firing of distal sensilla rapidly adapted to sustained unloading, while proximal sensilla discharged tonically to load increases. Load decreases of small amplitude or at low rates produced only inhibition of proximal activity while decrements of larger size or rate elicited distal firing. These response properties may provide discrete signals that either modulate excitatory extensor drive during small load variations or inhibit support prior to compensatory stepping or initiation of swing.     

Effects of force detecting sense organs on muscle synergies are correlated with their response properties

Sense organs that monitor forces in legs can contribute to activation of muscles as synergist groups. Previous studies in cockroaches and stick insects showed that campaniform sensilla, receptors that encode forces via exoskeletal strains, enhance muscle synergies in substrate grip. However synergist activation was mediated by different groups of receptors in cockroaches (trochanteral sensilla) and stick insects (femoral sensilla). The factors underlying the differential effects are unclear as the responses of femoral campaniform sensilla have not previously been characterized. The present study characterized the structure and response properties (via extracellular recording) of the femoral sensilla in both insects. The cockroach trochantero-femoral (TrF) joint is mobile and the joint membrane acts as an elastic antagonist to the reductor muscle. Cockroach femoral campaniform sensilla show weak discharges to forces in the coxo-trochanteral (CTr) joint plane (in which forces are generated by coxal muscles) but instead encode forces directed posteriorly (TrF joint plane). In stick insects, the TrF joint is fused and femoral campaniform sensilla discharge both to forces directed posteriorly and forces in the CTr joint plane. These findings support the idea that receptors that enhance synergies encode forces in the plane of action of leg muscles used in support and propulsion.     

Encoding of forces by cockroach tibial campaniform sensilla: implications in dynamic control of posture and locomotion

Forces exerted by a leg in support and propulsion can vary considerably when animals stand upon or traverse irregular terrains. We characterized the responses of the cockroach tibial campaniform sensilla, mechanoreceptors which encode force via strains produced in the exoskeleton, by applying forces to the leg at controlled magnitudes and rates. We also examined how sensory responses are altered in the presence of different levels of static load. All receptors exhibit phasico-tonic discharges that reflect the level and rate of force application. Our studies show that: (1) tonic discharges of sensilla can signal the level of force, but accurate encoding of static loads may be affected by substantial receptor adaptation and hysteresis; (2) the absolute tonic sensitivities of receptors decrease when incremental forces are applied at different initial load levels; (3) phasic discharges of sensilla accurately encode the rate of force application; and (4) sensitivities to changing rates of force are strictly preserved in the presence of static loads. These findings imply that discharges of the sensilla are particularly tuned to the rate of change of force at all levels of leg loading. This information could be utilized to adapt posture and walking to varying terrains and unexpected perturbations. Accepted: 8 January 2000     

Detecting substrate engagement: responses of tarsal campaniform sensilla in cockroaches

Sensory signals of contact and engagement with the substrate are important in the control and adaptation of posture and locomotion. We characterized responses of campaniform sensilla, receptors that encode forces as cuticular strains, in the tarsi (feet) of cockroaches using neurophysiological techniques and digital imaging. A campaniform sensillum on the fourth tarsal segment was readily identified by its large action potential in nerve recordings. The receptor discharged to contractions of the retractor unguis muscle, which engages the pretarsus (claws and arolium) with the substrate. We mimicked the effects of muscle contractions by applying displacements to the retractor apodeme (tendon). Sensillum firing did not occur to unopposed movements, but followed engagement of the claws with an object. Vector analysis of forces suggested that resisted muscle contractions produce counterforces that axially compress the tarsal segments. Close joint packing of tarsal segments was clearly observed following claw engagement. Physiological experiments showed that the sensillum responded vigorously to axial forces applied directly to the distal tarsus. Discharges of tarsal campaniform sensilla could effectively signal active substrate engagement when the pretarsal claws and arolium are used to grip the substrate in climbing, traversing irregular terrains or walking on inverted surfaces.     

Proprioceptor organs in Cicadella viridis (L.) (Homoptera : Cicadellidae)

The external proprioceptor organs of Cicadella viridis (L.) (Homoptera: Cicadellidae) are identified and localized. They are composed of hair and campaniform sensilla grouped together and located in or near the joint areas of various parts of the body or in cuticular areas, which come into contact with moving parts. The hair sensilla, 8–75 μm long, are arranged in hair plates or in hair rows; they detect relative movement between parts of the body. Proprioceptor organs of this kind, localized in proximity to joint areas, were found on the legs and on the abdomen. Proprioceptor organs composed of hair sensilla located far from the articular areas were found on the 3rd pair of legs, the thorax, the hind wings, and the abdomen. The campaniform sensilla, which are arranged in fields and groups, in cuticular areas subject to deformations, are of 2 types: with raised caps (type I) and with flat caps (type II). Organs with campaniform sensilla were found on the legs, thorax and wings.     

Antennal and ovipositor sensilla of Pseudoligosita yasumatsui (Hymenoptera: Trichogrammatidae)

Pseudoligosita yasumatsui Viggiani and Subba Rao 1978 (Hymenoptera: Trichogrammatidae) is a common egg parasitoid of rice insect pests. The surface morphology of the antenna and ovipositor on P. yasumatsui was examined using scanning electron microscopy. The antenna of P. yasumatsui is geniculate in shape, hinged at the scape-pedicel joint, approximately 190 μm in length and consists of seven antennomeres. In total, the male and female antennae have ten different types of sensilla: trichoid sensilla type 1, 2, 3, 4, 5, 6, campaniform sensilla, basiconic sensilla, and placoid sensilla type 1 and 2. The flagellum of the female antenna is covered with cuticular pores, which are absent on the male antennal flagellum. The distal extremity of its ovipositor stylet has campaniform sensilla and styloconic sensilla. Trichoid sensilla found on its apical abdomen part may play a role in the host detection and egg placement. The types and distribution of antennal and ovipositor sensilla on the parasitoid were discussed.     

Load sensing and control of posture and locomotion

This article reviews recent findings on how forces are detected by sense organs of insect legs and how this information is integrated in control of posture and walking. These experiments have focused upon campaniform sensilla, receptors that detect forces as strains in the exoskeleton, and include studies of sensory discharges in freely moving animals and intracellular characterization of connectivity of afferent inputs in the central nervous system. These findings provide insights into how campaniform sensilla can contribute to the adjustment of motor outputs to changes in load. In this review we discuss (1) anatomy of the receptors and their activities in freely moving insects, (2) mechanisms by which inputs are incorporated into motor outputs and (3) the integration of sensory signals of diverse modalities. The discharges of some groups of receptors can encode body load when standing. Responses are also correlated with muscle-generated forces during specific times in walking. These activities can enhance motor outputs through reflexes and can affect the timing of motoneuron firing through inputs to pattern generating interneurons. Flexibility in the system is also provided by interactions of afferent inputs at several levels. These mechanisms can contribute to the adaptability of insect locomotion to diverse terrains and environments.     

The ultrastructure of campaniform sensilla on the eye of the cricket,Gryllus campestris

Summary The structure of the campaniform sensilla of the cricket eye was investigated by light and electron microscopy. Each sensillum is innervated by a single bipolar neuron. Its axon extends through the retina into a side-branch of the nervus tegumentarius. The dendrite extends through a cuticular channel to the surface of the cornea. The distal part of the dendrite, the sensory process, contains a tubular body and is attached to a cuticular cap which is obliquely inserted into the exocuticle between the corneal lenslets. Some particular structural features as well as the function of the campaniform sensillum of the cricket eye are discussed.Supported by the Deutsche Forschungsgemeinschaft, grant Ho 463/10The authors are indebted to Prof. H. Altner, University of Regensburg, and Mrs. Evelyn Thury, Contron GmbH, München for use of the scanning electron microscope facilities     

Sensilla on the maxillary palps of Helicoverpa armigera caterpillars: in search of the CO(2)-receptor

The ultrastructure of sensilla on the maxillary palps of helicoverpa armigera caterpillars has been investigated in order ot find candidates for CO(2)-receptors. The following sensilla are found on the palps: a) 8 chemosensory pegs at the tip; b), a large distal pore plate; c), a smaller proximal pore plate; d), a digitiform organ; e), a campaniform sensillum; and f), 3 scolopidia. Each chemosensory peg at the tip is innervated by 4-5 sensory neurons. Five of these pegs are most probably contact chemoreceptors, because each has a dendrite with a tubular body. The distal pore plate has a porous cuticle and is innervated by 3 sensory neurons, each of which sends a highly branched dendrite into a large cuticular cavity. The proximal pore plate is made up from two fused organs, has also a porous cuticle, and is innervated by two sensory neurons which send their dendrites into a narrow cuticular channel. The digitiform organ is innervated by one sensory cell which sends a highly lamellated dendrite into a narrow channel within a chip-shaped protrusion of the porous cuticle. For several reasons, the digitiform organ is the most probable candidate for the CO(2)-receptor. Another possible candidate is the distal pore plate.     

Campaniform sensilla of Calliphora vicina (Insecta,Diptera)

Summary A classification scheme of campaniform sensilla using morphological criteria was developed. All variations of the two most important outer structural elements, the cuticular cap and the cuticular collar, were taken into consideration: (a) the external shape of the cuticular cap; (b) the position of the cuticular cap in relation to the remaining cuticle; (c) the position of the cuticular collar in relation to the cuticular cap. This resulted in a classification of campaniform sensilla into 24 types. This typology was applied to the campaniform sensilla of Calliphora, which show considerable variations in their outer structures. According to SEM (scanning electron microscope) pictures and TEM (transmission electron microscope) sections we found only 9 out of 24 different types of campaniform sensilla in the fly.     

Fine structure of tarsal sensilla of Aedes aegypti (L.) (Diptera: Culicidae)

The tarsi of all three pairs of legs of both sexes of Aedes aegypti (L.) bear spine sensilla, five types of hair sensilla, which are designated A, B, C1, C2 and C3, and campaniform sensilla. Type A and B hairs, spines, and cam-paniform sensilla are innervated by one neuron with a tubular body, a characteristic of cuticular mechanoreceptors. In particular the hairs and spines are tactile receptors and the campaniform sensilla are proprioceptors. The C1, C2, and C3 hair sensilla have the morphological features of contact chemoreceptors. Type C1 and C3 hairs are innervated by five and four neurons, respectively, which extend to the tip of the hair. Type C2 is innervated by five neurons, one of which terminates at the base of the hair in a tubular body while the remaining four extend to the tip of the hair. The role of the type C hairs in oviposition behavior, nectar feeding, and recognition of conspecific females is discussed. Presumed efferent neurosecretory fibers occur near the spine and hair sensilla.     

Antennal receptors in the blowfly Calliphora erythrocephala: II. Fine structure of the large pedicellar campaniform sensillum

A large mechanosensory campaniform sensillum (LCS) is found close to the flagellum/pedicellus joint in the antennae of the blowfly Calliphora erythrocephala. The LCS possesses a single sensory cell, enveloping cells and a cuticular stimulus-conducting structure. The distal part of the sensory process is developed as a tubular body and is connected to the two parts of the stimulusconducting apparatus. The sensory cell is characterized by the complete absence of ciliary structures in the transition zone between dendrite and sensory process.     

Force detection in cockroach walking reconsidered: discharges of proximal tibial campaniform sensilla when body load is altered

We examined the mechanisms underlying force feedback in cockroach walking by recording sensory and motor activities in freely moving animals under varied load conditions. Tibial campaniform sensilla monitor forces in the leg via strains in the exoskeleton. A subgroup (proximal receptors) discharge in the stance phase of walking. This activity has been thought to result from leg loading derived from body mass. We compared sensory activities when animals walked freely in an arena or on an oiled glass plate with their body weight supported. The plate was oriented either horizontally (70-75% of body weight supported) or vertically (with the gravitational vector parallel to the substrate). Proximal sensilla discharged following the onset of stance in all load conditions. In addition, activity was decreased in the middle third of the stance phase when the effect of body weight was reduced. Our results suggest that sensory discharges early in stance result from forces generated by contractions of muscles that press the leg as a lever against the substrate. These forces can unload legs already in stance and assure the smooth transition of support among the limbs. Force feedback later in stance may adjust motor output to changes in leg loading.     

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.     

The central morphology of mechanoreceptor afferents in the metathoracic leg of the cockroach, Periplaneta americana (Insecta)

The sensory arborizations of the femoral chordotonal organ (FECO), trochanteral campaniform sensilla (CS) and the trochanteral hairplate (THP) are restricted to the ipsilateral hemiganglion and possess large dendritic fields in the dorsal and ventral neuropiles. The efferent projections of the fast (Df) and the slow (Ds) depressor motoneurons project into the same areas. Three groups of trichoid sensilla located on the coxal and trochanteral cuticular walls have central contralateral projections and in one case intersegmental projections. All sensory projections terminate either just lateral of or in the Ventral Association Centre (VAC). Comparisons with the mechanoreceptors of other insects reveal similar projection patterns for some proprioceptors and non-homologous central configurations for others.