Resonant frequencies of arms and legs identify different walking patterns

The present study is aimed at investigating changes in the coordination of arm and leg movements in young healthy subjects. It was hypothesized that with changes in walking velocity there is a change in frequency and phase coupling between the arms and the legs. In addition, it was hypothesized that the preferred frequencies of the different coordination patterns can be predicted on the basis of the resonant frequencies of arms and legs with a simple pendulum model. The kinematics of arms and legs during treadmill walking in seven healthy subjects were recorded with accelerometers in the sagittal plane at a wide range of different velocities (i.e., 0.3-1. 3m/s). Power spectral analyses revealed a statistically significant change in the frequency relation between arms and legs, i.e., within the velocity range 0.3-0.7m/s arm movement frequencies were dominantly synchronized with the step frequency, whereas from 0.8m/s onwards arm frequencies were locked onto stride frequency. Significant effects of walking speed on mean relative phase between leg and arm movements were found. All limb pairs showed a significantly more stable coordination pattern from 0.8 to 1.0m/s onwards. Results from the pendulum modelling demonstrated that for most subjects at low-velocity preferred movement frequencies of the arms are predicted by the resonant frequencies of individual arms (about 0.98Hz), whereas at higher velocities these are predicted on the basis of the resonant frequencies of the individual legs (about 0.85Hz). The results support the above-mentioned hypotheses, and suggest that different patterns of coordination, as shown by changes in frequency coupling and phase relations, can exist within the human walking mode.     

Responsiveness to sucrose and habituation of the proboscis extension response in honey bees

In honey bees, complex behaviours such as associative learning correlate with responsiveness to sucrose. In these behaviours, the subjective evaluation of a sucrose stimulus influences the behavioural performance. Habituation is a well-known form of non-associative learning. In bees, the proboscis extension response can be habituated by repeatedly stimulating the antennae with a low sucrose concentration. A high sucrose concentration can dishabituate the response. This study tests whether habituation correlates with responsiveness to sucrose in bees of different behavioural states and in bees which are habituated with different sucrose concentrations. Habituation and dishabituation in newly emerged bees, 5-day-old bees and foragers strongly correlated with responsiveness to sucrose. Bees with high responsiveness to sucrose displayed a lower degree of habituation and showed greater dishabituation than bees with low responsiveness. The degree of habituation and dishabituation also depended on the concentration of the habituation stimulus. These experiments demonstrate for the first time in a non-associative learning paradigm that the subjective strength of a sucrose stimulus determines the behavioural performance. Non-associative learning shares this property with associative learning, which suggests that the two processes might rely on similar neural mechanisms.Abbreviations: GRS Gustatory response score - PER Proboscis extension response     

Frequency tuning in animal locomotion

In locomotion that involves repetitive motion of propulsive structures (arms, legs, fins, wings) there are resonant frequencies f(*) at which the energy consumption is a minimum. As animals need to change their speed, they can maintain this energy minimum by tuning their body resonances. We discuss the physical principles of frequency tuning, and how it relates to forces, damping, and oscillation amplitude. The resonant frequency of pendulum-type oscillators (e.g. swinging arms and legs) may be changed by varying the mass moment of inertia, or the vertical acceleration of the pendulum pivot. The frequency of elastic vibrations (e.g. the bell of a jellyfish) can be tuned with a non-linear modulus of elasticity: soft for low deflection amplitudes (low resonant frequency), and stiff for large displacements (high resonant frequency). Tuning of elastic oscillations can also be achieved by changing the effective length or cross-sectional area of the elastic members, or by allowing springs in parallel or in series to become active. We propose that swimming and flying animals generate oscillating propulsive forces from precisely placed shed vortices and that these tuned motions can only occur when vortex shedding and the simple harmonic motion of the elastic elements of the propulsive structures are in resonance.     

Configurational pattern discrimination responsible for dishabituation in common toads Bufo bufo (L.): Behavioral tests of the predictions of a neural model

Summary Recently, a neural model of visual pattern discrimination for stimulus-specific habituation was developed, based on previous behavioral studies which demonstrated that toads exhibit a dishabituation hierarchy for different worm-like stimuli. The model suggests that visual objects are represented by temporal coding and predicts that the dishabituation hierarchy changes when the stimulus/background contrast direction is reversed or the stimulus size is varied. The behavioral experiments reported in this paper were designed to test these predictions, (1) For a pair of stimuli from the contrast reversal prediction, the experimental results validated the theory. (2) For a pair of stimuli from the size reduction prediction, the experimental results failed to validate the theory. Further experiments concerning size effects suggest that configurai visual pattern discrimination in toads exhibits size invariance. (3) Inspired by the Groves-Thompson account of habituation, we found that dishabituation by a second stimulus has a separate process from habituation to a first stimulus. This paper serves as an example of a fruitful dialogue between experimentation and modeling, crucial for understanding brain functions.Abbreviations a-h worm-like stimulus patterns - AT anterior thalamus - ERF excitatory receptive field - IRF inhibitory receptive field - RF receptive field - R2 to R4 retinal ganglion cell types - vMP posterior ventromedial pallium     

A feedforward model of suppressive and facilitatory habituation effects

 Simple exposure to repeatitive stimulation is known to induce short-term learning effects across a wide range of species. These effects can be both suppressive and facilitatory depending on stimulus conditions: repeatitive presentation of a weak stimulus decreases the strength of the response (habituation), whereas presentation of a tonic stimulus following a series of weak stimuli transiently increases the response strength (dishabituation). Although these phenomena have been comprehensively characterized at both behavioral and cellular levels, most existing models of nonassociative learning focus exclusively on the suppressive or facilitatory changes in response, and do not attempt to relate cellular events to behavior. I propose here a feedforward model of habituation effects that explains both suppressive and facilitatory changes in response relying on the interaction between excitatory and inhibitory processes that develop in parallel on two different timescales. The model's properties are used to explain the rate sensitivity property of habituation and recovery and stimulus dishabituation. Received: 1 June 2001 / Accepted in revised form: 4 December 2001     

Der Regelkreis des Kniesehnenreflexes bei der Stabheuschrecke Carausius morosus

In Part B the tendon of the femoral chordotonal organ (receptor tendon) of a fixed leg is sinusoidally moved with different amplitudes and frequencies. This causes movements of the tibia. Figures 1–3 show the amplitudes of the tibia movements and the phase-shifts between tibia-movement and stimulus. As it is known, that a tibia-movement of about 13° corresponds to a movement of the receptor-tendon of 100 m, a bode-plot can be constructed. Figure 4 is the first part of a three-dimensional bode-plot (amplitude ratio) which additionally shows the values of amplitudes and frequencies, at which a phase shift of 180° can be observed. The system is stable, if the gain of the system is smaller than 1 at these values. A gain equal or larger than 1 causes instability. As it can be seen in Fig. 4, the system is stable, but it is not very far from instability. In Part C an inert mass is coupled to the tibia in order to enlarge the phase-shift. After a disturbance, which causes a higher gain of the system, intact legs often show long lasting oscillations of small amplitude (Fig. 6a, b). During these oscillations the other legs are not moved. Sometimes active movements of all legs occur. Active movements of the tested legs have larger amplitudes and are always followed by small-amplitude-oscillations. Legs with cut receptor tendons and intact legs of decerebrated animals never show small-amplitude-oscillations but only active movements. Therefore it is probable that the small-amplitude-oscillations are oscillations of the feedback-system. In Part C 4 another possible explanation for these oscillations is discussed: The forces, produced by the muscles, might be represented by a noise of broad bandwidth from which the mechanical system selects only a small band given by its resonance frequency. In order to test this hypothesis, electrophysiological experiments are done (C5): During slow-amplitude-oscillations of legs with an inert mass added a spike-burst can be observed in the flexor tibiae during extension and in the extensor tibiae during flexion of the femur-tibia-joint. Sometimes no activity in the extensor can be observed. This means, that the activity in the muscles has a phase-shift of about 180° relative to the movement of the tibia: These supports the hypothesis, that the small-amplitude-oscillations are oscillations of the control system of the Kniesehnenreflex. In Part D it is discussed, whether the rocking-movements of the whole animal could be explained by oscillations of control systems. It is, deduced, that if this hypothesis is true, the control system in the coxa-trochanter-joint must be as near to instability as the control system of the Kniesehnenreflex.     

Simulation of habituation to simple and multiple stimuli

Within the psychological literature there are a number of models that reproduce the defining properties of habituation to a single stimulus. However, most of them do not reproduce the phenomenon of dishabituation shown in empirical studies, consisting in the recovery of a stimulus previously habituated upon the appearance of a novel stimulus. The present work offers a model of habituation which, in addition to reproducing the basic properties of habituation to a stimulus, also does so when more than one stimulus is presented, and thus includes the dishabituation phenomenon. This model consists of two functions, one called "activation" and the other "availability", and is tested by means of simulation of the responses in the context of different stimulus patterns. The results of the simulation show a good qualitative fit to the empirical results on the phenomena of habituation, including dishabituation. In addition, the model is suitable for inclusion in associative models that reproduce classical conditioning, which will make it possible in the future to incorporate into these in a simple way the influence that the habituation of each stimulus may have on its association with other stimuli.     

Walking and running at resonance

Humans and other animals can temporarily store mechanical energy in elastic oscillations, f(el), of body parts and in pendulum oscillations, f(p) = const sq.rt (g/L), of legs, length L, or other appendages, and thereby reduce the energy consumption of locomotion. However, energy saving only occurs if these oscillations are tuned to the leg propagation frequency f. It has long been known that f is tuned to the pendulum frequency of the free-swinging leg of walkers. During running the leg frequency increases to some new value f = f(r). We propose that in order to maintain resonance the animal, mass M, actively increases its leg pendulum frequency to the new value f(p,r) =const sq.rt (a(y)/L)=f(r), by giving its hips a vertical acceleration a(y)= F(y)/M. The pendulum frequency is increased if the impact force F(y) of the stance foot is larger than Mg, explaining the observation by Alexander and Bennet-Clark (1976) that F(v) becomes larger than Mg when animals start to run. Our model predictions of the running velocity U(r) as function of L, F(v), are in agreement with measurements of these quantities (Farley et al. 1993). The leg's longitudinal elastic oscillation frequency scales as f(el) = const sq.rt (k/M). Experiments by Ferris et al., (1998) show that runners adjust their leg's stiffness, k, when running on surfaces of different elasticity so that the total stiffness k remains constant. Our analysis of their data suggests that the longitudinal oscillations of the stance leg are indeed kept in tune with the running frequency. Therefore we conclude that humans, and by extension all animals, maintain resonance during running. Our model also predicts the Froude number of walking-running transitions, Fr = U(2)/gL approximately 0.5 in good agreement with measurements.     

Seasonal variation of serotonin content and nonassociative learning of swim induction in the leech Hirudo medicinalis

Summary It is possible to obtain habituation of swim induction by stimulating the leech with repetitive light electrical trains. After obtaining this simple form of nonassociative learning, it is also possible to potentiate its response by a series of nociceptive skin brushings (dishabituation). Serotonin applied to the animal is the only neurotransmitter found to mimick dishabituation. We have observed that in the period April–June most animals did not exhibit potentiation of the swimming response after nociceptive stimulation while injection of serotonin mimicked dishabituation as in the animals treated in the period October–March. We have seen correlation between the changes in nonassociative learning and the seasonal variation of serotonin levels in segmental ganglia. This finding strengthens the hypothesis of serotonin as the neurotransmitter mediating dishabituation in swim induction of the leech.Abbreviations AHP afterhyperpolarization - HPLC high pressure liquid chromatography     

Accurate visual memory of colors in controlling the pecking behavior of quail chicks

Animals are predisposed to memorize specific features of objects they encounter, and to link them with behavioral outputs in a selective manner. In this study, we examined whether chicks memorize objects by colors, and how they exploit the memorized color cues for selective pecking in 1- to 2-days-old quail chicks (Coturnix japonica). Ball-shaped beads painted in green (G), yellowish green (YG) and the intermediate color (YGG) were used. Repetitive presentation of a bead (interval: 4.5 min) resulted in gradually fewer pecks (habituation). Subsequent presentation of a different color caused proportionately more pecks (dishabituation); e.g., after habituation to the G bead, the YG bead caused a stronger dishabituation than the YGG bead did. The dishabituation appeared symmetric; e.g., the YG bead caused as strong dishabituation after the G-habituation, as was caused by the G bead after the YG-habituation. Number of pecks could thus reveal the memory-based color perception in chicks. Similar discrimination of beads by memorized color cues was found after one-trial passive avoidance training, where chicks learned to avoid a bitter-tasting object without any differential pre-training experiences. However, proportion of the chicks that discriminated between different colors became progressively smaller at test 15 min, 1 hr, and 24 hr post-training. On the other hand, proportion of chicks that distinguished beads by non-color cues remained unchanged. Chicks may primarily form an accurate memory of colors, but gradually change the link between the color memory and the pecking behavior.     

The contralateral coordination of walking legs in the crayfish Astacus leptodactylus

The coupling mechanisms which coordinate the movement of ipsilateral walking legs in the crayfish have been described in earlier investigations. Concerning the coupling between contralateral legs it was only known that these influences are weaker than those acting between ipsilateral legs. The nature of these coupling mechanisms between contralateral legs of the crayfish are investigated here by running left and right legs on separate walking belts at different speeds. The results show that coordination is performed by a phase-dependent shift of the anterior extreme position of the influenced leg. This backward shift leads to a shortening of both the return stroke and the following power stroke. As the coupling influence is only weak, several steps might be necessary to retain normal coordination after a disturbance. This corresponds to v. Holst's relative coordination. The influences act in both directions, from left to right and vice versa. However, one side may be more or less dominant. A gradient was found in the way that anterior leg pairs show less strong coordination than posterior legs. In some cases the coupling between diagonally neighbouring legs was found to be stronger than between contralateral legs of the same segment. The interpretation of this result is still open.     

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     

Neurophysiological mechanisms underlying habituation of the tentacle retraction reflex in the land slug Ariolimax

Habituation of the tentacle retraction reflex was studied at the following response levels: (1) Muscle tension elicited in the tentacle retractor muscle by repeated stimulation of a cerebral nerve (at 60-sec intervals) declined in parallel with evoked activity of the largest unit in the tentacle retractor nerve. (2) The largest unit in the tentacle retractor nerve (L₄) showed spontaneous recovery and dishabituation. The rate of response decrement was inversely related to the strength of stimulus, and an optimal interstimulus interval ca. 60 s was found. Retention of habituation for 24 h was exhibited. (3) The major retractor motoneurons (L₂, L₃, L₄) all showed habituation, dishabituation, and spontaneous recovery. The decline of L₄ activity was parallelled by a decline in muscle response. (4) Compound EPSPs elicited in the retractor motoneurons by stimulation of sensory pathways showed habituation and dishabituation. (5) Unitary EPSPs elicited by stimulation of cerebral nerves and connectives with minimal stimulus strengths also showed habituation and were unaffected by spontaneously occurring EPSPs. Dishabituation by another pathway was also shown. (6) Depolarization of L₄ by a constant current produced spike trains of constant firing rate and evoked a constant level of muscle tension in repeated trials, suggesting the absence of habituation in a peripheral nerve net or at the neuromuscular junction.     

Bending vibrations of the femur and the oscillatory behavior of a cemented femoral hip endoprosthesis

The paper presents a novel method for recording amplitude and phase of 6D-vibrations of a spatial pendulum over a wide frequency range (10 Hz up to 20 kHz). The six degrees of freedom of the pendulum mass were monitored by three electrodynamic stereo pickups. At rest, the tips of the needles and the pendulum's center of mass defined the reference system with respect to which the oscillations of the mass were recorded in terms of their amplitudes and phases. Its small dimensions, constant transfer characteristics, linearity, high dynamics, and virtual lack of reaction onto the moving system over the entire frequency range provided the advantages of the measuring system. This method was used to analyze the spatial 6D-vibrations of the head of a cemented femoral hip endoprosthesis when the femur was stimulated to bending vibrations. The head of the prosthesis carried out axial rotational vibrations at every frequency used to stimulate the femur. The amplitudes of the axial rotations of the cortical bone were small in comparison to the ones of the prosthesis head, indicating that axial rotational vibrations following femur bending vibrations mainly stressed the spongiosa and the cement layer. This was observed over the entire frequency range, including at the low frequencies relevant for gait. Over the low-frequency range, as well as at some of the higher resonance frequencies, stationary instantaneous helical axes characterized the vibrations. The measurements suggest the mechanism that the interface "implant-bone" may already be stressed by axial torsional loads when the femur is loaded by bending impacts that are known to occur during walking.     

Associative components of recognition memory

Recent results indicate that visual recognition memory (as assessed by habituation and dishabituation of the orienting response) is influenced by associative knowledge, and that this influence is mediated by the hippocampus. A standard, associative model of learning has been recently reported to provide a parsimonious explanation for these results.     

Meadow voles,Microtus pennsylvanicus,can discriminate between scents of individual house cats,Felis catus

Individual discrimination provides animals the opportunity to adjust their exposure and behavior when interacting with other animals, both conspecifics and heterospecifics. Meadow voles, Microtus pennsylvanicus, were exposed to scents of house cats, Felis catus. Our first experiment tested whether meadow voles could discriminate between caudal, interdigital, and facial scents produced by a cat with a habituation–dishabituation paradigm. Upon exposure to the familiar scent and a novel one, meadow voles did not investigate either scent more than the other. Our second experiment tested whether meadow voles discriminate between the facial scents of different cats. When exposed to a familiar scent of one cat and the unfamiliar scent of another cat, the meadow voles did discriminate and investigated the unfamiliar scent more than the familiar scent. The results suggest that meadow voles will discriminate between cats using any scent that the cat may inadvertently leave within the environment, thereby reducing the vole's risk of predation by that individual.     

Patterns of autotomy and regeneration in Hemigrapsus nudus

Leg autotomy and regeneration can have severe impacts on survival and reproduction, and these impacts may be even more pronounced in animals with multifarious legs, such as decapods. Thus, determining the patterns and frequency of autotomy and regeneration could reveal the effects of these processes on the individual and population level. We investigated whether some legs are lost more often than others and if all legs are equally likely to be regenerated. We sampled nearly 500 purple shore crabs (Hemigrapsus nudus) and showed that (1) most animals are found with at least one injured leg, (2) the patterns of autotomy differ between males and females, and (3) successful claw regeneration is unlikely in both males and females. Future work with H. nudus and other grapsid crabs will elucidate how patterns seen here relate to other developmental and ecological factors.     

Slow oscillations in neural networks with facilitating synapses

The synchronous oscillatory activity characterizing many neurons in a network is often considered to be a mechanism for representing, binding, conveying, and organizing information. A number of models have been proposed to explain high-frequency oscillations, but the mechanisms that underlie slow oscillations are still unclear. Here, we show by means of analytical solutions and simulations that facilitating excitatory (E _f) synapses onto interneurons in a neural network play a fundamental role, not only in shaping the frequency of slow oscillations, but also in determining the form of the up and down states observed in electrophysiological measurements. Short time constants and strong E _f synapse-connectivity were found to induce rapid alternations between up and down states, whereas long time constants and weak E _f synapse connectivity prolonged the time between up states and increased the up state duration. These results suggest a novel role for facilitating excitatory synapses onto interneurons in controlling the form and frequency of slow oscillations in neuronal circuits.     

Modeling the dishabituation hierarchy: The role of the primordial hippocampus

We present a neural model for the organization and neural dynamics of the medial pallium, the toad's homolog of mammalian hippocampus. A neural mechanism, called cumulative shrinking, is proposed for mapping temporal responses from the anterior thalamus into a form of population coding referenced by spatial positions. Synaptic plasticity is modeled as an interaction of two dynamic processes which simulates acquisition and both short-term and long-term forgetting. The structure of the medial pallium model plus the plasticity model allows us to provide an account of the neural mechanisms of habituation and dishabituation. Computer simulations demonstrate a remarkable match between the model performance and the original experimental data on which the dishabituation hierarchy was based. A set of model predictions is presented, concerning mechanisms of habituation and cellular organization of the medial palliumThe research described in this paper was supported in part by grant no. 1RO1 NS 24926 from the National Institutes of Health (M.A.A., Principal Investigator)