A model of pattern generation of cockroach walking reconsidered

Cockroaches that have been decapitated or that have cut thoracic connectives can show rhythmic bursting in motoneurons to intrinsic leg muscles. These preparations have been studied as models for walking and to evaluate the functions of leg proprioceptors. The present study demonstrates that headless cockroaches walk extremely poorly and slowly with considerable discoordination of motoneuronal activity, these preparations show rhythmic motoneuron bursting that is similar to righting responses (attempts to turn upright) of intact animals when placed on their backs, and bursting is inhibited when a headless animal is turned or turns itself upright. Thus, rhythmic motoneuron activity of these preparations is most probably attempted righting rather than walking. It is concluded that the headless cockroach is useful for understanding the motor mechanisms underlying righting and walking but is not of value in assessing the functions of proprioceptive feedback.     

Ionic mechanisms of electrical activity in somatic muscle of the nematodeAscaris lumbricoides

Summary The ionic dependence of the myogenic spike potentials and slow waves recorded fromAscaris lumbricoides somatic muscles has been investigated. Spikes appear to be mediated exclusively by calcium ions; the spike active potential varies with calcium concentration as expected for a calcium electrode and spikes persist in sodium-free media (Fig. 2). Slow waves can be mediated either by sodium or calcium; they persist when calcium or sodium are removed separately, but not when both are removed together (Figs. 3, 4, 6).In rhythmically active preparations, a burst of slow waves and spikes accompanies each contraction. Two phenomena may be related to the mechanism of this modulation:1) TEA, although it does not prolong slow waves or spikes, induces rhythmic bursts of activity similar to spontaneous modulation (Fig. 5). This TEA-induced modulation appears to be myogenic. 2) Under conditions where calcium influx is reduced (either by addition of EGTA to the bath or by replacement of calcium with barium or strontium), very long-duration square waves are observed (Figs. 4. 7. 8). The square waves resemble slow waves in their ionic dependence, but differ in their sensitivity to TEA and to variation in the external potassium concentration. It is suggested that modulation and square waves involve the same channels. The significance of these results in understanding the role of myogenic activity in nematode locomotion is discussed.We thank Mr. Mac McGlaughlin for help in obtainingAscaris. This work was supported by a Sloan Foundation grant in Neuroscience and a U.S. Public Health Service grant (NS 09654) to R.L.R., by an NIH Traineeship on grant BCH Tol GM 01262-12 to D.A.W., and by an NIH Postdoctoral Fellowship (1 FO2 GM55347) to L.B.     

Kick and Thrust Foot Movements in the Righting and Escape Behavior of Marine Prosobranch Gastropods (Mollusca: Gastropoda)

This is a comparative study of the righting behavior of 59 species of marine prosobranch gastropods. All but a few species examined are able to right by pulling on the substrate with their foot. Some gastropods also are capable of kicking (with the operculum) or thrusting (without the use of the operculum) the metapodium against the substrate to right. Kick and thrust righting appear to be restricted to those gastropods which exhibit similar or identical movements in escape from molluscivorous asteroids and/or gastropods. It is inferred, therefore, that these movements arose primarily in the context of escape. This is supported by more refined comparisons where some closely related, ecologically similar gastropods which differ with respect to escape and righting behaviors are examined.     

Righting kinematics in beetles (Insecta: Coleoptera)

Twenty modes of stereotyped righting motions were observed in 116 representative species of coleoptera. Methods included cine and stereocine recording with further frame by frame analysis, stereogrammetry, inverse kinematic reconstruction of joint angles, stroboscopic photography, recording of electromyograms, 3D measurements of the articulations, etc. The basic mode consists of a search phase, ending up with grasping the substrate, and a righting, overturning phase. Leg coordination within the search cycle differs from the walking cycle with respect to phasing of certain muscle groups. Search movements of all legs appear chaotic, but the tendency to move in antiphase is still present in adjacent ipsilateral and contralateral leg pairs. The system of leg coordination might be split: legs of one side might search, while contralateral legs walk, or fore and middle legs walk while hind legs search. Elaborated types of righting include somersaults with the aid of contralateral or diagonal legs, pitch on elytra, jumps with previous energy storage with the aid of unbending between thoracic segments (well-known for Elateridae), or quick folding of elytra (originally described in Histeridae). Righting in beetles is compared with righting modes known in locusts and cockroaches. Search in a righting beetle is directed dorsad, while a walking insect searches for the ground downwards. Main righting modes were schematized for possible application to robotics.     

The function of auditory neurons in cricket phonotaxis

Summary The activity of auditory receptor cells and prothoracic auditory neurons of the cricket,Gryllus bimaculatus, was recorded intracellularly while the animal walked on a sphere or while passive movement was imposed on a foreleg.During walking the responses to simulated calling song is altered since (i) the auditory sensory cells and interneurons discharged impulses in the absence of sound stimuli (Figs. 1, 3) and (ii) the number of action potentials in response to sound is reduced in interneurons (Figs. 2, 3).These two effects occurred in different phases of the leg movement during walking and therefore masked, suppressed or did not affect the responses to auditory stimuli (Figs. 3, 4). Hence there is a time window within which the calling song can be detected during walking (Fig. 5).The extra excitation of receptors and interneurons is probably produced by vibration of the tympanum because (i) the excitation occurred at the same time as the leg placement (Fig. 4), (ii) during walking on only middle and hindlegs, no extra action potentials were observed (Fig. 6), (iii) in certain phases of passive movements receptor cells and interneurons were excited as long as the ipsilateral ear was not blocked (Figs. 8, 9).Suppression of auditory responses seems to be peripheral as well as central in origin because (i) it occurred at particular phases during active and passive leg movements in receptor cells and interneurons (Figs. 1, 4, 9), (ii) it disappeared if the ear was blocked during passive leg movements (Fig. 9) and (iii) it persisted if the animal walked only on the middle and hind legs (Fig. 6).     

Intracellular recordings from nonspiking interneurons in a semiintact,tethered walking insect

Nonspiking interneurons were investigated in a tethered, walking insect, Carausius morosus, that was able to freely perform walking movements. Experiments were carried out with animals walking on a lightweight, double-wheel treadmill. Although the animal was opened dorsally, the walking system was left intact. Intracellular recordings were obtained from the dorsal posterior neuropil of the mesothoracic ganglion. Nonspiking inter-neurons, in which modulations of the membrane potential were correlated with the walking rhythm, were described physiologically and stained with Lucifer Yellow. Interneurons are demonstrated in which membrane potential oscillations mirror the leg position or show correlation with the motoneuronal activity of the protractor and retractor coxae muscles during walking. Other interneurons showed distinct hyperpolarizations at certain important trigger points in the step cycle, for example, at the extreme posterior position. Through electrical stimulation of single, nonspiking interneurons during walking, the motoneuronal activity in two antagonistic muscles—protractor and retractor coxae—could be reversed and even the movement of the ipsilateral leg could be influenced. The nonspiking interneurons described appear to be important premotor elements involved in walking. They receive, integrate, and process information from different leg proprioceptors and drive groups of leg motoneurons during walking.     

Differential effects of GABA on three muscles innervated by a common inhibitory axon ofOcypode

Summary The effect of GABA (-aminobutyric acid) on three muscles innervated by the common inhibitory axon in the walking leg of the crabOcypode cursor, was studied. The muscles differ in the percentage of fibres responding to GABA by membrane resistance decrease, and in the magnitude of the response (Table 1). In addition to the postsynaptic effect (on muscle fibre membrane) of GABA, a presynaptic effect (on excitatory terminals) was observed in one muscle, resulting in more effective inhibition of excitatory potentials. The presynaptic effect sustained as long as GABA was present, while the postsynaptic effect underwent desensitization (Fig. 2). The data demonstrate differential inhibition of distinct functional units innervated by a common axon. The channeling of inhibitory information results from spatial organization of innervation, differing in location (pre-or postsynaptic) and density.This investigation was supported by grant AZ11 1955 for Stiftung Volkswagenwerk.     

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     

Growth of crustacean muscles and muscle fibers

Summary The superficial flexor (SF) muscle of the crayfish (Procambarus clarkii) abdomen increases in volume in direct proportion to increases in total body weight during ontogeny. This increase in SF muscle mass occurs solely (Figs. 1, 2) by an increase in the width and length of SF muscle fibers (i.e., the number of SF muscle fibers remains constant). Unlike vertebrate muscle fibers, these crustacean muscle fibers increase in length by increases in sarcomere length (Fig. 3). This increase in sarcomere length during ontogeny must occur via a continuous lengthening of actin and myosin filaments since the relative lengths of the A and I bands remain essentially unchanged as these fibers lengthen. Similar results are reported for the opener muscle of the cheliped (Figs. 5–7).We suggest that fiber number is specified for many crayfish muscle masses since for a given species of crayfish, certain muscle masses contain a set number of fibers within rather narrow limits, and the number of fibers is often significantly different in homologous muscle masses of the same species or in the same muscle mass of different species. Finally, it would seem that similar processes are operating both during embryonic growth and during regeneration in crayfish and in some other crustaceans, since fiber number is not significantly different in opener muscles from normal and regenerated limbs in crayfish and in the crabGecarcinus lateralis.We would like to thank Mr. Martis Ballinger and Mr. Mark R. Meyer for their aid and histology and photography, Mr. Michael Bouton for his assistance in several of the experiments, and Drs. Alan Templeton and Laurence Fox for their help in the statistical analysis of the data. This research was supported by NSF grant No. GB-30199 and NIH grant No. NS-08609.     

Generation of motor patterns for walking and flight in motoneurons supplying bifunctional muscles in the locust

In the flight system of Locusta migratoria certain muscles move a wing and a leg (bifunctional muscles) and are active during the performance of walking and flight. A preparation that allowed intracellular recordings during these behaviors was developed to analyze the activity of motoneurons supplying these and other muscles. Motoneurons innervating bifunctional muscles were active during walking and flight, whereas motoneurons innervating unifunctional flight muscles were active only during flight. Both motor patterns, walking and flight, were sometimes generated simultaneously in our preparation. In bifunctional motoneurons the two patterns were superimposed, whereas in unifunctional motoneurons only the flight motor pattern was observed. All flight interneurons we examined were either inactive or tonically inhibited during walking. All interneurons that were strongly modulated during walking were either inactive, inhibited, or only weakly modulated during flight. Anatomical investigations showed that unifunctional flight motoneurons have their main processes in the extreme dorsal region of neuropil. With the exception of the second basalar motoneurons, all bifunctional motoneurons have their processes extending more ventrally in the neuropil. Flight interneurons have their processes restricted to the dorsal neuropil. Interneurons that were rhythmically active during walking had their processes distributed more ventrally. We conclude that motoneurons innervating bifunctional muscles are active during both motor patterns, walking and flight, and that these patterns are produced by two distinct interneuronal networks. The pattern-generating network for flight appears to be located in the extreme dorsal regions of the thoracic ganglia, and the network for walking is located more ventrally.     

Intracellular recordings from nonspiking interneurons in a semiintact, tethered walking insect.

Nonspiking interneurons were investigated in a tethered, walking insect, Carausius morosus, that was able to freely perform walking movements. Experiments were carried out with animals walking on a lightweight, double-wheel treadmill. Although the animal was opened dorsally, the walking system was left intact. Intracellular recordings were obtained from the dorsal posterior neuropil of the mesothoracic ganglion. Nonspiking interneurons, in which modulations of the membrane potential were correlated with the walking rhythm, were described physiologically and stained with Lucifer Yellow. Interneurons are demonstrated in which membrane potential oscillations mirror the leg position or show correlation with the motoneuronal activity of the protractor and retractor coxae muscles during walking. Other interneurons showed distinct hyperpolarizations at certain important trigger points in the step cycle, for example, at the extreme posterior position. Through electrical stimulation of single, nonspiking interneurons during walking, the motoneuronal activity in two antagonistic muscles--protractor and retractor coxae--could be reversed and even the movement of the ipsilateral leg could be influenced. The nonspiking interneurons described appear to be important premotor elements involved in walking. They receive, integrate, and process information from different leg proprioceptors and drive groups of leg motoneurons during walking.     

The control of walking movements in the leg of the rock lobster

1. Experiments with rock lobsters walking on a treadmill were undertaken to obtain information upon the system controlling the movement of the legs. Results show that the position of the leg is an important parameter affecting the cyclic movement of the walking leg. Stepping can be interrupted when the geometrical conditions for terminating either a return stroke or a power stroke are not fullfilled. 2. The mean value of anterior and posterior extreme positions (AEP and PEP respectively) of the walking legs do not depend on the walking speed (Fig. 1). 3. When one leg is isolated from the other walking legs by placing it on a platform the AEPs and PEPs of the other legs show a broader distribution compared to controls (Figs. 2 and 3). 4. Force measurements (Fig. 4) are in agreement with the hypothesis that the movement of the leg is controlled by a position servomechanism. 5. When one leg stands on a stationary force transducer this leg develops forces which oscillate with the step rhythm of the other legs (Fig. 5). 6. A posteriorly directed influence is found, by which the return stroke of a leg can be started when the anterior leg performs a backward directed movement. 7. Results are compared with those obtained from stick insects. The systems controlling the movement of the individual leg are similar in both, lobster and stick insect but the influences between the legs seem to be considerably different.     

Thoracic leg motoneurons in the isolated CNS of adult Manduca produce patterned activity in response to pilocarpine,which is distinct from that produced in larvae

In the hawkmoth, Manduca sexta, thoracic leg motoneurons survive the degeneration of the larval leg muscles to innervate new muscles of the adult legs. The same motoneurons, therefore, participate in the very different modes of terrestrial locomotion that are used by larvae (crawling) and adults (walking). Consequently, changes in locomotor behavior may reflect changes in both the CNS and periphery. The present study was undertaken to determine whether motor patterns produced by the isolated CNS of adult Manduca, in the absence of sensory feedback, would resemble adult specific patterns of coordination. Pilocarpine, which evokes a fictive crawling motor pattern from the isolated larval CNS, also evoked robust patterned activity from leg motoneurons in the isolated adult CNS. As in the larva, levator and depressor motoneurons innervating the same leg were active in antiphase. Unlike fictive crawling, however, bursts of activity in levator or depressor motoneurons of one leg alternated with bursts in the homologous motoneurons innervating the opposite leg of the same segment and the leg on the same side in the adjacent segment. The most common mode of intersegmental activity generated by the isolated adult CNS resembled an alternating tripod gait, which is displayed, albeit infrequently, during walking in intact adult Manduca. A detailed analysis revealed specific differences between the patterned motor activity that is evoked from the isolated adult CNS and activity patterns observed during walking in intact animals, perhaps indicating an important role for sensory feedback. Nevertheless, the basic similarity to adult walking and clear distinctions from the larval fictive crawling pattern suggest that changes within the CNS contribute to alterations in locomotor activity during metamorphosis. Electronic Publication     

Organization of a complex movement: fixed and variable components of the cockroach escape behavior

The escape behavior of the cockroach Periplaneta americana was studied by means of high speed filming (250 frames/s) and a computer-graphical analysis of the body and leg movements. The results are as follows: 1. The behavior begins with pure rotation of the body about the posteriorly located cerci, followed by rotation plus forward translation, and finally pure translation (Figs. 1, 2). 2. A consistent inter-leg coordination is used for the entire duration of the turn (Fig. 3A). At the start of the movement, five or all six legs execute their first stance phase (i.e. leg on the ground during locomotion) simultaneously. By the end of the turn the pattern has changed to the alternate 'tripod' coordination characteristic of insect walking. The change-over from all legs working together, to working alternately, occurs by means of a consistent pattern of delays in the stepping of certain legs. 3. The movements made by each leg during its initial stance phase are carried out using consistent movement components in the anterior-posterior (A-P) and the medial-lateral (M-L) axes (Fig. 4A). The movement at a particular joint in each middle leg is found to be diagnostic for the direction of turn. 4. The size and direction of a given leg's M-L movement in its initial stance phase depends on the same leg's prior A-P position (Fig. 5). No such feedback effects were seen among different legs. 5. Animals that are fixed to a slick surface on which they make slipping leg movements show the same inter-leg coordination (Fig. 3B), direction of initial stance movement (Fig. 4B) and dependence of the leg's initial M-L movement on its prior A-P position (Fig. 6), as did free-ranging animals. 6. Cockroaches that are walking at the moment they begin their escape reverse those ongoing leg movements that are contrary to escape movements. 7. These results are discussed in terms of the overall coordination of the complex movements, and in terms of the known properties of the neural circuitry for escape. Possibilities for neurobiological follow-up of certain of the findings presented here are also addressed.     

中华绒螯蟹蜕壳过程中肌肉的组织学、超微结构及主要蛋白质含量的变化

为探讨中华绒螯蟹(Eriocheir sinensis)蜕壳前后肌肉组织的形态特征变化, 采用石蜡切片、电镜及生物化学方法, 研究了中华绒螯蟹蜕皮过程中步行足和腹部肌肉的组织学、超微结构及主要蛋白质含量的变化。结果显示: 相对于蜕皮间期, 步行足在蜕皮前后组织学形态特征无明显变化; 超微结构在蜕皮前无明显变化, 蜕皮后可见肌原纤维纵裂及肌小节横裂现象, 表明蜕皮后外骨骼硬化的过程伴随着肌肉的生长。相对于蜕皮间期, 腹部肌肉在蜕皮前后组织学特征变化明显: 蜕皮前肌束间隙增大, 蜕皮后肌束内肌纤维间隙增大。电子显微镜观察显示, 蜕皮前肌原纤维在内部降解, 出现空洞, 肌原纤维边缘降解, 导致肌原纤维间隙增大; 蜕皮后肌原纤维重新组装、重建, 恢复到间期正常形态。生物化学研究发现, 蜕皮前后步行足和腹部肌肉中肌原纤维蛋白和可溶性蛋白含量的变化同其结构特征的变化相一致。以上研究结果表明, 中华绒螯蟹肌肉组织的结构特征同蜕皮周期密切相关。     

Walking in the American cockroach: the timing of motor activity in the legs during straight walking

The timing of bursts of motor activity in extensor muscles in the coxae of pairs of legs in intact freely walking American cockroaches was studied. The timing of bursts in adjacent and non-adjacent leg pairs generally reflected the common alternating tripod gait of these insects. Detailed study of the timing further revealed two previously unreported features. (1) The timing of extensor bursts in the middle legs relative to bursts in the rear legs was more variable than it was relative to those in the front legs. This difference in variability was statistically significant for the means of bursts when all insects were considered together as well as for bursts in individual insects. An apparent difference in variability of the timing of burst starts compared to burst ends for any one leg pair was not significant. (2) There was a shift in the timing of motor bursts relative to one another when an insect walked fast such that motor bursts in the middle legs tended to lag farther behind those in the front legs, and those in the rear legs tended to lag farther behind those in the middle legs compared to the timing during slow walking. This shift was apparent in both burst starts and burst ends, although more obvious in the former. It occurred in both ipsilateral and contralateral leg pairs, and in both the mean data and the data for individual insects. The implications of these characteristics of the timing data are discussed in terms of the neural organization of insect walking.     

Energy cost and muscular activity required for leg swing during walking.

To investigate the metabolic cost and muscular actions required for the initiation and propagation of leg swing, we applied a novel combination of external forces to subjects walking on a treadmill. We applied a forward pulling force at each foot to assist leg swing, a constant forward pulling force at the waist to provide center of mass propulsion, and a combination of these foot and waist forces to evaluate leg swing. When the metabolic cost and muscle actions were at a minimum, the condition was considered optimal. We reasoned that the difference in energy consumption between the optimal combined waist and foot force trial and the optimal waist force-only trial would reflect the metabolic cost of initiating and propagating leg swing during normal walking. We also reasoned that a lower muscle activity with these assisting forces would indicate which muscles are normally responsible for initiating and propagating leg swing. With a propulsive force at the waist of 10% body weight (BW), the net metabolic cost of walking decreased to 58% of normal walking. With the optimal combination, a propulsive force at the waist of 10% BW plus a pulling force at the feet of 3% BW the net metabolic cost of walking further decreased to 48% of normal walking. With the same combination, the muscle activity of the iliopsoas and rectus femoris muscles during the swing phase was 27 and 60% lower, respectively, but the activity of the medial gastrocnemius and soleus before swing did not change. Thus our data indicate that approximately 10% of the net metabolic cost of walking is required to initiate and propagate leg swing. Additionally, the hip flexor muscles contribute to the initiation and propagation leg swing.     

Co-ordinating interneurones of the locust which convey two patterns of motor commands: their connexions with flight motoneurones.

1. Some flight motoneurones receive two superimposed rhythms of depolarizing synaptic potentials when the locust is not flying; a slow rhythm which is invariably linked to the expiratory phase of ventilation, and a fast rhythm with a period of about 50 ms which is similar to the wingbeat period in flight. 2. By recording simultaneously from groups of motoneurones, the synaptic potentials which underly these rhythms have been revealed in 30 flight motoneurones in the three thoracic ganglia. The inputs occur in elevator motoneurones and some depressors but are of lower amplitude in the latter. The inputs have not been found in leg motoneurones. 3. The rhythmic depolarizations are usually subthreshold but sum with sensory inputs to evoke spikes in flight motoneurones at intervals equal to or multiples of the wingbeat period in flight. 4. Both rhythms originate in the metathoracic ganglion and are mediated by the same interneurones. They can be adequately explained by supposing that there are two symmetrical interneurones which each make widespread connexions with left and right flight motoneurones in the three ganglia. 5. The slow rhythm is coded in the overall burst of interneurone spikes during expiration and the fast rhythm in the interval between the spikes of a burst.     

Degree of neuromuscular facilitation is correlated with contribution to walking in leg muscles of two species of crab

Despite decades of work on the neuromuscular physiology of crustacean leg muscles, little is known about how physiological differences between these muscles relate to their behavioral usage. We studied a sideways walking shore crab, Carcinus maenas, and a forward walking spider crab, Libinia emarginata, as part of our work to understand the neural control of locomotion. The two species differed significantly in facilitation at neuromuscular junctions for every muscle studied. Further, these differences are correlated exactly with the walking use of the muscles. The forward walking spider crab showed more facilitation in muscles which operate joints having larger ranges of motion in forward walking. Likewise, greater facilitation was seen in muscles more active during sideways walking in the predominantly sideways walking shore crab. These differences even occur between muscles innervated by the same motor neuron, and become more evident with higher stimulus frequency. The increased presynaptic facilitation might allow selective recruitment of fibers innervated by the same motor neuron and aid in temporal filtering. Electronic supplementary material  The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

The influence of increasing steady-state walking speed on muscle activity in below-knee amputees

The goal of this study was to identify changes in muscle activity in below-knee amputees in response to increasing steady-state walking speeds. Bilateral electromyographic (EMG) data were collected from 14 amputee and 10 non-amputee subjects during four overground walking speeds from eight intact leg and five residual leg muscles. Using integrated EMG measures, we tested three hypotheses for each muscle: (1) there would be no difference in muscle activity between the residual and intact legs, (2) there would be no difference in muscle activity between the intact leg and non-amputee legs, and (3) muscle activity in the residual and intact legs would increase with speed. Most amputee EMG patterns were similar between legs and increased in magnitude with speed. Differences occurred in the residual leg biceps femoris long head, vastus lateralis and rectus femoris, which increased in magnitude during braking compared to the intact leg. These adaptations were consistent with the need for additional body support and forward propulsion in the absence of the plantar flexors. With the exception of the intact leg gluteus medius, all intact leg muscles exhibited similar EMG patterns compared to the control leg. Finally, the residual, intact and control leg EMG all had a significant speed effect that increased with speed with the exception of the gluteus medius.