The antennal motor system of the stick insect Carausius morosus: anatomy and antennal movement pattern during walking

The stick insect Carausius morosus continuously moves its antennae during locomotion. Active antennal movements may reflect employment of antennae as tactile probes. Therefore, this study treats two basic aspects of the antennal motor system: First, the anatomy of antennal joints, muscles, nerves and motoneurons is described and discussed in comparison with other species. Second, the typical movement pattern of the antennae is analysed, and its spatio-temporal coordination with leg movements described. Each antenna is moved by two single-axis hinge joints. The proximal head-scape joint is controlled by two levator muscles and a three-partite depressor muscle. The distal scape-pedicel joint is controlled by an antagonistic abductor/ adductor pair. Three nerves innervate the antennal musculature, containing axons of 14-17 motoneurons, including one common inhibitor. During walking, the pattern of antennal movement is rhythmic and spatiotemporally coupled with leg movements. The antennal abduction/adduction cycle leads the protraction/retraction cycle of the ipsilateral front leg with a stable phase shift. During one abduction/adduction cycle there are typically two levation/depression cycles, however, with less strict temporal coupling than the horizontal component. Predictions of antennal contacts with square obstacles to occur before leg contacts match behavioural performance, indicating a potential role of active antennal movements in obstacle detection.     

Active tactile exploration for adaptive locomotion in the stick insect

Insects carry a pair of actively movable feelers that supply the animal with a range of multimodal information. The antennae of the stick insect Carausius morosus are straight and of nearly the same length as the legs, making them ideal probes for near-range exploration. Indeed, stick insects, like many other insects, use antennal contact information for the adaptive control of locomotion, for example, in climbing. Moreover, the active exploratory movement pattern of the antennae is context-dependent. The first objective of the present study is to reveal the significance of antennal contact information for the efficient initiation of climbing. This is done by means of kinematic analysis of freely walking animals as they undergo a tactually elicited transition from walking to climbing. The main findings are that fast, tactually elicited re-targeting movements may occur during an ongoing swing movement, and that the height of the last antennal contact prior to leg contact largely predicts the height of the first leg contact. The second objective is to understand the context-dependent adaptation of the antennal movement pattern in response to tactile contact. We show that the cycle frequency of both antennal joints increases after obstacle contact. Furthermore, inter-joint coupling switches distinctly upon tactile contact, revealing a simple mechanism for context-dependent adaptation.     

Vibration signals from the FT joint can induce phase transitions in both directions in motoneuron pools of the stick insect walking system

The influence of vibratory signals from the femoral chordotonal organ fCO on the activities of muscles and motoneurons in the three main leg joints of the stick insect leg, i.e., the thoraco-coxal (TC) joint, the coxa-trochanteral (CT) joint, and the femur-tibia (FT) joint, was investigated when the animal was in the active behavioral state. Vibration stimuli induced a switch in motor activity (phase transition), for example, in the FT joint motor activity switched from flexor tibiae to extensor tibiae or vice versa. Similarly, fCO vibration induced phase transitions in both directions between the motoneuron pools of the TC joint and the CT joint. There was no correlation between the directions of phase transition in different joints. Vibration stimuli presented during simultaneous fCO elongation terminated the reflex reversal motor pattern in the FT joint prematurely by activating extensor and inactivating flexor tibiae motoneurons. In legs with freely moving tibia, fCO vibration promoted phase transitions in tibial movement. Furthermore, ground vibration promoted stance-swing transitions as long as the leg was not close to its anterior extreme position during stepping. Our results provide evidence that, in the active behavioral state of the stick insect, vibration signals can access the rhythm generating or bistable networks of the three main leg joints and can promote phase transitions in motor activity in both directions. The results substantiate earlier findings on the modular structure of the single-leg walking pattern generator and indicate a new mechanism of how sensory influence can contribute to the synchronization of phase transitions in adjacent leg joints independent of the walking direction.     

Retinal scanning and visual inputs in freely walking crickets

ABSTRACT. Freely walking crickets were filmed from above during their visual orientation towards a black stripe. A frame-by-frame analysis enabled head and body movements to be recorded. The animals walk in 200ms bouts (runs) separated by pauses of similar duration. During each run, rotations of the body axis are observed and some corrections of the course direction occur between successive runs. Generally, the crickets do not walk straight ahead but slightly sideways. Because no lateral head movements were observed during visually orientated locomotion, retinal scanning results from both rotations of the body axis and translation of the head. While walking, one of the target edges is maintained by the cricket on a relatively limited area of the retina, generally between 10 and 25 laterally. Thus, the cricket often records three pieces of information about each edge: one in the monocular visual field, and two in the binocular visual field. Nevertheless, between two pauses, the images of each edge shift asymmetrically on the retinae. Such movement could prevent receptor adaptation by modulation of the ommatidial excitation, or by stimulation of the neighbouring ommatidia. It is also suggested that antennal movements are influenced by the positions of the visually fixated target edges.     

A Computational Model of a Descending Mechanosensory Pathway Involved in Active Tactile Sensing

Many animals, including humans, rely on active tactile sensing to explore the environment and negotiate obstacles, especially in the dark. Here, we model a descending neural pathway that mediates short-latency proprioceptive information from a tactile sensor on the head to thoracic neural networks. We studied the nocturnal stick insect Carausius morosus, a model organism for the study of adaptive locomotion, including tactually mediated reaching movements. Like mammals, insects need to move their tactile sensors for probing the environment. Cues about sensor position and motion are therefore crucial for the spatial localization of tactile contacts and the coordination of fast, adaptive motor responses. Our model explains how proprioceptive information about motion and position of the antennae, the main tactile sensors in insects, can be encoded by a single type of mechanosensory afferents. Moreover, it explains how this information is integrated and mediated to thoracic neural networks by a diverse population of descending interneurons (DINs). First, we quantified responses of a DIN population to changes in antennal position, motion and direction of movement. Using principal component (PC) analysis, we find that only two PCs account for a large fraction of the variance in the DIN response properties. We call the two-dimensional space spanned by these PCs ‘coding-space’ because it captures essential features of the entire DIN population. Second, we model the mechanoreceptive input elements of this descending pathway, a population of proprioceptive mechanosensory hairs monitoring deflection of the antennal joints. Finally, we propose a computational framework that can model the response properties of all important DIN types, using the hair field model as its only input. This DIN model is validated by comparison of tuning characteristics, and by mapping the modelled neurons into the two-dimensional coding-space of the real DIN population. This reveals the versatility of the framework for modelling a complete descending neural pathway.     

Sensorimotor pathways involved in interjoint reflex action of an insect leg

Coordination of motor output between leg joints is crucial for the generation of posture and active movements in multijointed appendages of legged organisms. We investigated in the stick insect the information flow between the middle leg femoral chordotonal organ (fCO), which measures position and movement in the femur-tibia (FT) joint and the motoneuron pools supplying the next proximal leg joint, the coxa-trochanteral (CT) joint. In the inactive animal, elongation of the fCO (by flexing the FT joint) induced a depolarization in eight of nine levator trochanteris motoneurons, with a suprathreshold activation of one to three motoneurons. Motoneurons of the depressor trochanteris muscle were inhibited by fCO elongation. Relaxation signals, i.e., extension of the FT joint, activated both levator and depressor motoneurons; i.e., both antagonistic muscles were coactivated. Monosynaptic as well as polysynaptic pathways contribute to interjoint reflex actions in the stick insect leg. fCO afferents were found to induce short latency EPSPs in levator motoneurons, providing evidence for direct connections between fCO afferents and levator motoneurons. In addition, neuronal pathways via intercalated interneurons were identified that transmit sensory information from the fCO onto levator and/or depressor motoneurons. Finally, we describe two kinds of alterations in interjoint reflex action: (a) With repetitive sensory stimulation, this interjoint reflex action shows a habituation-like decrease in strength. (b) In the actively moving animal, interjoint reflex action in response to fCO elongation, mimicking joint flexion, qualitatively remained the same sign, but with a marked increase in strength, indicating an increased influence of sensory signals from the FT joint onto the adjacent CT joint in the active animal. © 1997 John Wiley & Sons, Inc. J Neurobiol 33: 891–913, 1997     

Vision modulates somatosensory cortical processing

Over 150 years ago, E.H. Weber declared that experience showed that tactile acuity was not affected by viewing the stimulated body part. However, more recent investigations suggest that cross-modal links do exist between the senses. Viewing the stimulated body site improves performance on tactile discrimination and detection tasks and enhances tactile acuity. Here, we show that vision modulates somatosensory cortex activity, as measured by somatosensory event-related potentials (ERPs). This modulation is greatest when tactile stimulation is task relevant. Visual modulation is not present in the P50 component reflecting the primary afferent input to the cortex but appears in the subsequent N80 component, which has also been localized to SI, the primary somatosensory cortex. Furthermore, we replicate previous findings that noninformative vision improves spatial acuity. These results are consistent with a hypothesis that vision modulates cortical processing of tactile stimuli via back projections from multimodal cortical areas. Several neurophysiological studies suggest that primary and secondary somatosensory cortex (SI and SII, respectively) activity can be modulated by spatial and tactile attention and by visual cues. To our knowledge, this is the first demonstration of direct modulation of somatosensory cortex activity by a noninformative view of the stimulated body site with concomitant enhancement of tactile acuity in normal subjects.     

Coactivation of leg reflexes in the stick insect

Each leg of a standing stick insect acts as a height controller. The leg contains several joints. Most of these joints are known to be controlled by feedback loops which are the basis of resistance reflexes (review Bässler 1983). This leads to the question of whether the resistance reflex of the whole leg can be understood as a simple, vectorial sum of the individual reflexes provided by the different joints, or whether additional properties emerge by simultaneous stimulation of several joints. Force measurements were performed while passively moving the middle leg tarsus of a fixed stick insect (Carausius morosus) stepwise to different positions. From the dynamic and static forces the torques developed by each joint were calculated. They were compared with the torques developed when only a single joint was moved by the same amount. The comparison shows that for a large range of positions there are no differences between both situations. Differences occur in two cases. First, the muscle system controlling the coxa-trochanter joint seems to be more strongly excited when the entire leg is moved than when only the one joint is moved. This change increases the linearity of the whole system for small deviations from the zero position. Second, the torque developed by the extensor tibiae system for negative steps (corresponding to increased body height), and the levator of coxa and trochanter for positive steps, decreases rather than increases when the whole leg is moved to extreme positions. This contributes to a decrease in the slope of the force-height characteristic and thus to a more non-linear behaviour of the whole system for the extreme positions. It is well known that the amplification factors of resistance reflexes in the leg show a large variation (Bässler 1972a; Kittmann 1991). Our results indicate that any change of the amplification factor influences the reflexes in all leg joints in the same way.     

Coding proprioceptive information to control movement to a target: Simulation with a simple neural network

When the stick insect walks, the middle and rear legs step to positions immediately behind the tarsus of the adjacent rostral leg. Previous reports have described this movement to a target as a relationship between the tarsus positions of the two legs in a Cartesian coordinate system. However, leg proprioceptors measure the position of the target leg in terms of joint angles and leg muscles bring the tarsus of the moving leg to the proper end-point by establishing appropriate angles at the joints. Representation of this task in Cartesian coordinates requires non-linear coordinate transformations; realizing such a transformation in the nervous system appears to require many neurons. The present simulation using the back-propagation algorithm shows that a simple network of only nine units — 3 sensory input units, 3 motor output units, and 3 hidden units — suffices. The simulation also shows that an analytic coordinate transformation can be replaced by a direct association of joint configurations in the moving leg with those in the target leg.     

Regulation of the body-substrat-distance in the stick insect: Responses to sinusoidal stimulation

The stick insect Carausius morosus maintains the distance between the substrate and its body. The underlying feed-back servo mechanism has been analyzed in intact animals under open loop conditions by changing the body-substrate distance in a sinusoidal fashion. The center position z _c has been varied as parameter and the force the animal elicits along its high axis has been measured. The response amplitude A is a nonlinear function of z _c. This nonlinear relationship between A and z _c is most probably caused by the relationship between the torque excerted at the joints and the measured force. The responses to sinusoidal stimulation reveal band-pass character of the feed-back loop. Due to the nonlinearity of the system the average value of the response to sinusoidal disturbances depends upon the frequency of modulation. The change of the average value with the frequency of modulation is partially due to cocontraction of the extensor and flexor muscles.     

Biomechanics of the joints of the large toe. Shape and movement of the first tarsometatarsal joint and of the medial cuneonavicular joint]

90% of the first (hallucal) tarsometatarsal joints are screw-shaped; the axis is directed upwards to the front touching the lateral edge of the joint. Thus the plantar flexion is inevitably accompanied by an adduction and a pronation, and vice versa a dorsiflexion is consequently accompanied by an abduction and a supination, when the articular surfaces exactly slide along each other. 10% of these joints, however, are ellipsoid-shaped; in this case the distal articular surface of the medial cuneiform bone has the form of an ovoid head, and a strong ligament situated next to the lateral edge of the joint effects the same kind of motion described above. The medial cuneonavicular joint is always ellipsoid-shaped, the head of which is made up by the medial facet of the distal articular surface of the navicular bone. Each of the two joints mentioned has a considerable range of mobility.     

Octopamine effects mimick state-dependent changes in a proprioceptive feedback system

The modulatory actions of the biogenic amine octopamine on the femur tibia (FT) control loop in the stick insect Carausius morosus were examined. The response properties of the FT control loop were determined under open loop conditions. Mechanical stimulation of the femoral chordotonal organ (fCO) was the input and tibial movement and motoneuronal activity were measured as the output of the system. Following octopamine injection into the hemolymph of intact, inactive animals, two consecutive phases occurred at the behavioral level. Octopamine caused initially an activation of the animal. During this first phase (3.5–12 min duration) the response properties of the FT control loop were similar to those found in animals that were activated by tactile stimuli under normal conditions. Afterward, animals became inactive. During this second phase (15–20 min duration), the gain of the control loop was zero and no resistance reflex in the FT joint was generated in response to fCO stimulation. However, active movements of the tibia could still be elicited. As we could show in restrained animals, where dl-octopamine was applied topically onto the undesheated mesothoracic ganglion, the complete suppression of the resistance reflex on the motoneuronal level was dose dependent starting at concentrations of 5 ± 10^?3 M octopamine. We could show that octopamine specifically suppressed the pathways involved in the resistance reflex, while feedback loop responses to fCO stimuli typical for active animals could still be elicited. Our results indicate that an increase in the octopamine concentration mimicks activation of the animal: Properties being characteristic for the control of the FT joint in the inactive animal are inhibited by octopamine, while properties of the FT control loop typical for the active animal appear to be facilitated following octopamine injection. The results clearly demonstrate that different pathways in the neuronal network underlying the FT control loop are involved in the responses of the control loop to fCO stimuli in the inactive and active behavioral states of the stick insect. © 1993 John Wiley & Sons, Inc.     

Joint morphology in the insect leg: evolutionary history inferred from Notch loss-of-function phenotypes in Drosophila

Joints permit efficient locomotion, especially among animals with a rigid skeleton. Joint morphologies vary in the body of individual animals, and the shapes of homologous joints often differ across species. The diverse locomotive behaviors of animals are based, in part, on the developmental and evolutionary history of joint morphogenesis. We showed previously that strictly coordinated cell-differentiation and cell-movement events within the epidermis sculpt the interlocking ball-and-socket joints in the adult Drosophila tarsus (distal leg). Here, we show that the tarsal joints of various insect species can be classified into three types: ball-and-socket, side-by-side and uniform. The last two probably result from joint formation without the cell-differentiation step, the cell-movement step, or both. Similar morphological variations were observed in Drosophila legs when Notch function was temporarily blocked during joint formation, implying that the independent acquisition of cell differentiation and cell movement underlay the elaboration of tarsal joint morphologies during insect evolution. These results provide a framework for understanding how the seemingly complex morphology of the interlocking joint could have developed during evolution by the addition of simple developmental modules: cell differentiation and cell movement.     

Bau und Bewegung der Antennen von Calliphora erythrocephala

Summary The anatomy of the four antennal joints of Calliphora erythrocephala and their significance in the total movement of the antenna were investigated. Both the head-scapus joint (1) and the funiculus-arista joint (4) are virtually rigid and do not participate in the active movements of the antenna. The pedicellus can be moved actively about two axes in the scapus-pedicellus joint (2), a horizontal and a vertical one. Prior to flight the antenna is raised into flight position by rotating the pedicellus about the horizontal axis of the scapus-pedicellus joint (2). During flight drag from frontal air currents on the arista rotates the funiculus with respect to the pedicellus about the longitudinal axis common to the funiculus and the pedicellus-funiculus joint (3). This passive movement of the funiculus is probably perceived by receptors in the pedicellus: the organ of Johnston and a large sensillum campaniforme. Also during flight the pedicellus is rotated actively about the vertical (second) axis of the scapus-pedicellus joint (2). This active movement is opposite to the passive rotation of the funiculus and thus changes the angle of attack for the air currents acting on the arista.

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Mit Unterstützung der Deutschen Forschungsgemeinschaft.     

Immunocytochemical distribution of pigment-dispersing hormone in the cephalic ganglia of polyneopteran insects

Material detectable with antisera to the pigment-dispersing hormone (PDH) is regarded as a component of the circadian clock residing in some insects in the optic lobe. This paper demonstrates that the position of the PDH-positive neurones and the course of their processes are similar in all representatives of the insect cohort Polyneoptera. A basic morphological pattern, which includes the proximal frontoventral (Pfv), distal posteriodorsal (Dpd) and posterioventral (Dpv) clusters of PDH-positive neurones, was found in the examined species of locusts, crickets, walking sticks, cockroaches, earwigs and termites. The Pfv cluster is located close to the accessory medulla and usually consists of a set of smaller and a set of larger perikarya. The Dpd and Dpv clusters occupy a dorsal and a ventral position, respectively, at the distal edge of the medulla. These clusters are lacking in stonefly and praying mantid species. The fan-like arrangement of PDH-positive fibres within the frontal medulla face (the locusts and the praying mantid have an additional, smaller fan on the posterior medulla face) is another characteristic feature of Polyneoptera. One (two in the locusts and the praying mantid) nerve bundle runs from the optic lobe to the lateral protocerebrum where it ramifies. One branch gives rise to a fibre network frontally encircling brain neuropile in the area of mushroom bodies. One thin fibre in the crickets and the earwig, and several thicker and anastomosing fibres in the other insects, connect the brain hemispheres. The arrangement of other PDH-positive structures specifies taxa within Polyneoptera. Specific features comprise the presence of PDH-positive perikarya in protocerebrum (walking stick and termite), deutocerebrum (cricket, walking stick, and one cockroach species), tritocerebrum (another cockroach species), and the suboesophageal ganglion (cricket, walking stick and termite). In the walking stick and the termite, PDH-positive fibres pass from the cephalic to the frontal ganglion and from there via the recurrent nerve to the corpora cardiaca where they make varicosities indicative of peptide release into the haemolymph.     

Gait posture estimation using wearable acceleration and gyro sensors

A method for gait analysis using wearable acceleration sensors and gyro sensors is proposed in this work. The volunteers wore sensor units that included a tri-axis acceleration sensor and three single axis gyro sensors. The angular velocity data measured by the gyro sensors were used to estimate the translational acceleration in the gait analysis. The translational acceleration was then subtracted from the acceleration sensor measurements to obtain the gravitational acceleration, giving the orientation of the lower limb segments. Segment orientation along with body measurements were used to obtain the positions of hip, knee, and ankle joints to create stick figure models of the volunteers. This method can measure the three-dimensional positions of joint centers of the hip, knee, and ankle during movement. Experiments were carried out on the normal gait of three healthy volunteers. As a result, the flexion–extension (F–E) and the adduction–abduction (A–A) joint angles of the hips and the flexion–extension (F–E) joint angles of the knees were calculated and compared with a camera motion capture system. The correlation coefficients were above 0.88 for the hip F–E, higher than 0.72 for the hip A–A, better than 0.92 for the knee F–E. A moving stick figure model of each volunteer was created to visually confirm the walking posture. Further, the knee and ankle joint trajectories in the horizontal plane showed that the left and right legs were bilaterally symmetric.     

JAWS coordinates chondrogenesis and synovial joint positioning

Properly positioned synovial joints are crucial to coordinated skeletal movement. Despite their importance for skeletal development and function, the molecular mechanisms that underlie joint positioning are not well understood. We show that mice carrying an insertional mutation in a previously uncharacterized gene, which we have named Jaws (joints abnormal with splitting), die perinatally with striking skeletal defects, including ectopic interphalangeal joints. These ectopic joints develop along the longitudinal axis and persist at birth, suggesting that JAWS is uniquely required for the orientation and consequent positioning of interphalangeal joints within the endochondral skeleton. Jaws mutant mice also exhibit severe chondrodysplasia characterized by delayed and disorganized maturation of growth plate chondrocytes, together with impaired chondroitin sulfation and abnormal metabolism of the chondroitin sulfate proteoglycan aggrecan. Our findings identify JAWS as a key regulator of chondrogenesis and synovial joint positioning required for the restriction of joint formation to discrete stereotyped locations in the embryonic skeleton.     

Physiology of vibration-sensitive afferents in the femoral chordotonal organ of the stick insect

The femoral chordotonal organ in orthopterans signals proprioceptive sensory information concerning the femur-tibia joint to the central nervous system. In the stick insect, 80 out of 500 afferents sense tibial position, velocity, or acceleration. It has been assumed that the other sensory cells in the chordotonal organ would serve as vibration detectors. Extracellular recordings from the femoral chordotonal organ nerve in fact revealed a sensitivity of the sense organ for vibrations with frequencies ranging from 10 Hz to 4 kHz, with a maximum sensitivity between 200 and 800 Hz. Single vibration-sensitive afferents responded to the same range of frequencies. Their spike activity depended on acceleration amplitude and displacement amplitude of the vibration stimulus. Additionally, 80% of the vibration-sensitive afferents received indirect presynaptic inputs from themselves or from other afferents of the femoral chordotonal organ, the amplitude of which depended on stimulus frequency and displacement amplitude. They were associated with a decrease of input resistance in the afferent terminal. From the present investigation we conclude that the femoral chordotonal organ of the stick insect is a bifunctional sensory organ that, on the one hand, measures position and movement of the tibia and, on the other hand, detects vibration of the tibia. Accepted: 6 November 1998     

Winching up heavy loads with a compliant arm: a new local joint controller

A closed kinematic chain, like an arm that operates a crank, has a constrained movement space. A meaningful movement of the chain’s endpoint is only possible along the free movement directions which are given implicitly by the contour of the object that confines the movement of the chain. Many technical solutions for such a movement task, in particular those used in robotics, use central controllers and force–torque sensors in the arm’s wrist or a leg’s ankle to construct a coordinate system (task frame formalism) at the local point of contact the axes of which coincide with the free and constrained movement directions. Motivated by examples from biology, we introduce a new control system that solves a constrained movement task. The control system is inspired by the control architecture that is found in stick insects like Carausius morosus. It consists of decentral joint controllers that work on elastic joints (compliant manipulator). The decentral controllers are based on local positive velocity feedback (LPVF). It has been shown earlier that LPVF enables contour following of a limb in a compliant motion task without a central controller. In this paper we extend LPVF in such a way that it is even able to follow a contour if a considerable counter force drags the limb away along the contour in a direction opposite to the desired. The controller extension is based on the measurement of the local mechanical power generated in the elastic joint and is called power-controlled relaxation LPVF. The new control approach has the following advantages. First, it still uses local joint controllers without knowledge of the kinematics. Second, it does not need a force or torque measurement at the end of the limb. In this paper we test power-controlled relaxation LPVF on a crank turning task in which a weight has to be winched up by a two-joint compliant manipulator.