Effects of neck and circumoesophageal connective lesions on posture and locomotion in the cockroach

Few studies in arthropods have documented to what extent local control centers in the thorax can support locomotion in absence of inputs from head ganglia. Posture, walking, and leg motor activity was examined in cockroaches with lesions of neck or circumoesophageal connectives. Early in recovery, cockroaches with neck lesions had hyper-extended postures and did not walk. After recovery, posture was less hyper-extended and animals initiated slow leg movements for multiple cycles. Neck lesioned individuals showed an increase in walking after injection of either octopamine or pilocarpine. The phase of leg movement between segments was reduced in neck lesioned cockroaches from that seen in intact animals, while phases in the same segment remained constant. Neither octopamine nor pilocarpine initiated changes in coordination between segments in neck lesioned individuals. Animals with lesions of the circumoesophageal connectives had postures similar to intact individuals but walked in a tripod gait for extended periods of time. Changes in activity of slow tibial extensor and coxal depressor motor neurons and concomitant changes in leg joint angles were present after the lesions. This suggests that thoracic circuits are sufficient to produce leg movements but coordinated walking with normal motor patterns requires descending input from head ganglia.Electronic Supplementary Material Supplementary material is available for this article at     

Control of obstacle climbing in the cockroach, Blaberus discoidalis. I. Kinematics

An advantage of legged locomotion is the ability to climb over obstacles. We studied deathhead cockroaches as they climbed over plastic blocks in order to characterize the leg movements associated with climbing. Movements were recorded as animals surmounted 5.5-mm or 11-mm obstacles. The smaller obstacles were scaled with little change in running movements. The higher obstacles required altered gaits, leg positions and body posture. The most frequent sequence used was to first tilt the front of the body upward in a rearing stage, and then elevate the center of mass to the level of the top of the block. A horizontal running posture was re-assumed in a leveling-off stage. The action of the middle legs was redirected by rotations of the leg at the thoracal-coxal and the trochanteral-femoral joints. The subsequent extension movements of the coxal-trochanteral and femoral-tibial joints were within the range seen during horizontal running. The structure of proximal leg joints allows for flexibility in leg use by generating subtle, but effective changes in the direction of leg movement. This architecture, along with the resulting re-direction of movements, provides a range of strategies for both animals and walking machines.     

Development of locomotion over inclined surfaces in laying hens

The purpose of the present study was to evaluate locomotor strategies during development in domestic chickens (Gallus gallus domesticus); we were motivated, in part, by current efforts to improve the design of housing systems for laying hens which aim to reduce injury and over-exertion. Using four strains of laying hens (Lohmann Brown, Lohmann LSL lite, Dekalb White and Hyline Brown) throughout this longitudinal study, we investigated their locomotor style and climbing capacity in relation to the degree (0 to 70°) of incline, age (2 to 36 weeks) and the surface substrate (sandpaper or wire grid). Chicks and adult fowl performed only walking behavior to climb inclines ⩽40° and performed a combination of wing-assisted incline running (WAIR) or aerial ascent on steeper inclines. Fewer birds used their wings to aid their hind limbs when climbing 50° inclines on wire grid surface compared with sandpaper. The steepness of angle achieved during WAIR and the tendency to fly instead of using WAIR increased with increasing age and experience. White-feathered strains performed more wing-associated locomotor behavior compared with brown-feathered strains. A subset of birds was never able to climb incline angles >40° even when using WAIR. Therefore, we suggest that inclines of up to 40° should be provided for hens in three-dimensional housing systems, which are easily negotiated (without wing use) by chicks and adult fowl.     

Interactive effects of leg autotomy and incline on locomotor performance and kinematics of the cellar spider,Pholcus manueli

Leg autotomy can be a very effective strategy for escaping a predation attempt in many animals. In spiders, autotomy can be very common (5–40% of individuals can be missing legs) and has been shown to reduce locomotor speeds, which, in turn, can reduce the ability to find food, mates, and suitable habitat. Previous work on spiders has focused mostly on the influence of limb loss on horizontal movements. However, limb loss can have differential effects on locomotion on the nonhorizontal substrates often utilized by many species of spiders. We examined the effects of leg autotomy on maximal speed and kinematics while moving on horizontal, 45° inclines, and vertical (90°) inclines in the cellar spider Pholcus manueli, a widespread species that is a denizen of both natural and anthropogenic, three‐dimensional microhabitats, which frequently exhibits autotomy in nature. Maximal speeds and kinematic variables were measured in all spiders, which were run on all three experimental inclines twice. First, all spiders were run at all inclines prior to autotomization. Second, half of the spiders had one of the front legs removed, while the other half was left intact before all individuals were run a second time on all inclines. Speeds decreased with increasing incline and following autotomy at all inclines. Autotomized spiders exhibited a larger decrease in speed when moving horizontally compared to on inclines. Stride length decreased at 90° but not after autotomy. Stride cycle time and duty factor increased after autotomy, but not when moving uphill. Results show that both incline and leg autotomy reduce speed with differential effects on kinematics with increasing incline reducing stride length, but not stride cycle time or duty factor, and vice versa for leg autotomy. The lack of a significant influence on a kinematic variable could be evidence for partial compensation to mitigate speed reduction.     

Pushing versus pulling: division of labour between tarsal attachment pads in cockroaches

Adhesive organs on the legs of arthropods and vertebrates are strongly direction dependent, making contact only when pulled towards the body but detaching when pushed away from it. Here we show that the two types of attachment pads found in cockroaches (Nauphoeta cinerea), tarsal euplantulae and pretarsal arolium, serve fundamentally different functions. Video recordings of vertical climbing revealed that euplantulae are almost exclusively engaged with the substrate when legs are pushing, whereas arolia make contact when pulling. Thus, upward-climbing cockroaches used front leg arolia and hind leg euplantulae, whereas hind leg arolia and front leg euplantulae were engaged during downward climbing. Single-leg friction force measurements showed that the arolium and euplantulae have an opposite direction dependence. Euplantulae achieved maximum friction when pushed distally, whereas arolium forces were maximal during proximal pulls. This direction dependence was not explained by the variation of shear stress but by different contact areas during pushing or pulling. The changes in contact area result from the arrangement of the flexible tarsal chain, tending to detach the arolium when pushing and to peel off euplantulae when in tension. Our results suggest that the euplantulae in cockroaches are not adhesive organs but 'friction pads', mainly providing the necessary traction during locomotion.     

Gait dynamics on an inclined walkway

OBJECTIVE: This paper documents research that quantifies and describes the biomechanics of normal gait on inclined surfaces. DESIGN: Experimental, investigative. BACKGROUND: It is necessary to walk on inclined surfaces to negotiate the natural and built environments. Little research has been conducted on the biomechanics of normal gait on inclined surfaces. METHODS: The gait of 11 healthy male volunteers was measured using a Vicon system 370 on an inclinable walkway. Gait was measured at 0 degrees , 5 degrees , 8 degrees and 10 degrees of incline. Passive optical markers were placed on each subject and they walked at a self-selected speed up and down the walkway. Ground reaction forces and EMG were measured. Gait data were analysed in Vicon Clinical Manager. RESULTS: Changes in the dynamics of the lower limbs with respect to incline angles are described. Between subject and between condition differences in biomechanical parameters were significant. Hip flexion increased at heel strike with inclines from -10 degrees to +10 degrees . Knee flexion and ankle dorsiflexion at heel strike increased with increasing angle walking up, but not down. Changes in joint moments and powers due to change in the angle of incline or direction of walking were observed. CONCLUSIONS: The mechanisms by which the body enables walking up and downhill, specifically raising and lowering the centre of mass, and preventing slipping, can be seen in the alteration in the dynamics of the lower limbs. Increases in range of motion and muscle strength requirements need to be considered in the design of lower limb prostheses and in orthopaedic and neurological rehabilitation. RELEVANCE: Gait, prosthetics, rehabilitation, balance and falls.     

The cost of incline locomotion in ghost crabs (<Emphasis Type="Italic">Ocypode quadrata</Emphasis>) of different sizes

It is well established that the metabolic cost of horizontal locomotion decreases as a regular function of animal body mass, regardless of body form and phylogeny. How body size affects the cost of incline exercise remains much less clear. Studies on vertebrates have led to the hypotheses that the cost of vertical work is independent of body mass and that the added cost of locomoting on inclines is lower for small animals. Studies on vertebrates and a few invertebrates provide evidence both for and against these hypotheses. To gain further insight into the cost of incline exercise, we measured oxygen consumption of small (2.33 ± 0.07 g) and large (46.66 ± 5.33 g) ghost crabs (Ocypode quadrata) locomoting horizontally and up a 20° incline. The slope of the oxygen consumption versus speed relationship (= minimum cost of transport) was not significantly different for small crabs exercising horizontally and on an incline. However, the intercept for incline exercise was significantly higher, indicating that small crabs used more energy during incline exercise than during horizontal exercise. Incline had no effect on the slope or intercept of the oxygen consumption versus speed relationship for large crabs. Our results suggest that the cost of incline locomotion may be large for small animals and that the cost is not independent of body size. Our results add to the growing body of research indicating that body mass is but one factor that determines the cost of incline locomotion and efficiency of vertical work.     

Gripping during climbing of arboreal snakes may be safe but not economical

On the steep surfaces that are common in arboreal environments, many types of animals without claws or adhesive structures must use muscular force to generate sufficient normal force to prevent slipping and climb successfully. Unlike many limbed arboreal animals that have discrete gripping regions on the feet, the elongate bodies of snakes allow for considerable modulation of both the size and orientation of the gripping region. We quantified the gripping forces of snakes climbing a vertical cylinder to determine the extent to which their force production favoured economy or safety. Our sample included four boid species and one colubrid. Nearly all of the gripping forces that we observed for each snake exceeded our estimate of the minimum required, and snakes commonly produced more than three times the normal force required to support their body weight. This suggests that a large safety factor to avoid slipping and falling is more important than locomotor economy.     

The effect of acclimation temperature and the removal of peripheral temperature receptors on body temperature preference in the cockroach, Periplaneta americana

1. 1.|Body temperature preferences were compared between cockroaches acclimated to different ambient temperatures and between 25°C acclimated cockroaches and cockroaches deprived of their peripheral temperature receptors.

2. 2.|Acclimation to 35°C resulted in a significantly higher mean body temperature and low body temperature selected compared with 25°C acclimated cockroaches.

3. 3.|Cockroaches deprived of their peripheral temperature receptors showed a significantly higher mean high body temperature selected when compared to normal 25°C acclimated cockroaches.

4. 4.|It is concluded that cockroach temperature regulation is more precise than expected and that central temperature receptors are the primary sensing elements for cockroach thermoregulation.

Speed dependent phase shifts and gait changes in cockroaches running on substrates of different slipperiness

Background

Many legged animals change gaits when increasing speed. In insects, only one gait change has been documented so far, from slow walking to fast running, which is characterised by an alternating tripod. Studies on some fast-running insects suggested a further gait change at higher running speeds. Apart from speed, insect gaits and leg co-ordination have been shown to be influenced by substrate properties, but the detailed effects of speed and substrate on gait changes are still unclear. Here we investigate high-speed locomotion and gait changes of the cockroach Nauphoeta cinerea, on two substrates of different slipperiness.

Results

Analyses of leg co-ordination and body oscillations for straight and steady escape runs revealed that at high speeds, blaberid cockroaches changed from an alternating tripod to a rather metachronal gait, which to our knowledge, has not been described before for terrestrial arthropods. Despite low duty factors, this new gait is characterised by low vertical amplitudes of the centre of mass (COM), low vertical accelerations and presumably reduced total vertical peak forces. However, lateral amplitudes and accelerations were higher in the faster gait with reduced leg synchronisation than in the tripod gait with distinct leg synchronisation.

Conclusions

Temporally distributed leg force application as resulting from metachronal leg coordination at high running speeds may be particularly useful in animals with limited capabilities for elastic energy storage within the legs, as energy efficiency can be increased without the need for elasticity in the legs. It may also facilitate locomotion on slippery surfaces, which usually reduce leg force transmission to the ground. Moreover, increased temporal overlap of the stance phases of the legs likely improves locomotion control, which might result in a higher dynamic stability.

     

Differential control of temporal and spatial aspects of cockroach leg coordination

Ensembles of neuronal networks and sensory pathways participate in controlling the kinematic and dynamic parameters of animal movement necessary to achieve motor coordination. Determining the relative contribution of proprioceptive feedback is essential for understanding how animals sustain stable, coordinated locomotion in complex natural environments. Here, we focus on the role of chordotonal organs (COs), proprioceptors found in insect legs, in the spatial and temporal regulation of walking. We compare gait parameters of intact cockroaches (Periplaneta americana) and sensory-impaired ones, injected with pymetrozine, a chemical previously shown to abolish CO function in locusts. We verify that afferent CO activity in pymetrozine-treated cockroaches is inhibited, and analyze the effect of this sensory deprivation on inter-leg coordination. We find significant changes in tarsi placement and leg path trajectories after pymetrozine treatment. Leg touchdown accuracy, measured from relative tarsi positions of adjacent legs, is reduced in treated animals. Interestingly, despite poorer spatial coordination in both stance and swing, temporal properties of the gait remain largely the same as in the intact preparations, apart from changes in ipsilateral phase differences between front and middle legs. These findings provide insights into the role of COs in insect gait control and establish pymetrozine as a useful tool for further studies of insect locomotion.     

Vom femoralen Chordotonalorgan gesteuerte Reaktionen bei der Stabheuschrecke Carausius morosus: Messung der von der Tibia erzeugten Kraft im aktiven und inaktiven Tier

In the Introduction (A) there is a list of unsolved problems concerning the role of the femoral chordotonal organ. A method to solve these problems by measuring the force at the distal end of the tibia during stimulation of the femoral chordotonal organ is described in (B). The step-response in inactive animals (C) is similar to that of the free-moving tibia. After an active movement caused by touching the abdomen the amplitude of the flexion-force is always higher than before. In (D) a method is described to measure the amplification of the control-system in intact animals. With this method it is verified, that the flexion-force produced by a distinct stimulus is higher after active movements caused by touching the abdomen. But this force is lower after spontaneous active movements caused by darkening the room (Fig. 2). Therefore one must assume, that there are two different types of activity: spontaneous activity and activity after a disturbance. In the frequency-response of the inactive animal (F) (Figs. 4 and 5) the amplitude of the force decreases with increasing frequency at a constant amplitude of stimulus. The phase-shift between reaction and stimulus is much smaller than with the free-moving tibia. Therefore, the large phase-shift as well as the strong decrease of the reaction-amplitude near 1 Hz observed in free-moving tibias (1972b) is mainly due to the mechanical attributes of the system. In Section (F) the receptor-apodeme is sinusoidally moved during active movements of intact and decerebrated animals. As with the free-moving tibia no reaction can be observed during active movements at that phase position for which the response occurs in inactive animals. Instead of this inactive response there is another response, called active with a phase-shift of about 180°. At the end of an active period the active and the inactive response can be observed simultaneously (Figs. 7 and 10). The amplitude of the active response decreases, and the amplitude of the inactive response increases from cycle to cycle. In decerebrated animals there are normally several minutes from the exclusively active response to the exclusively inactive response without a further increase in amplitude. In intact animals this transition takes only a few seconds. Step-stimuli during active movements (G) show, that in active animals stretching the chordotonal organ causes a flexion of the femor-tibia-joint. Releasing the chordotonal organ does not produce any reaction. Moving the receptor-apodeme in active animals influences the contralateral leg significantly only in middle legs (H). These legs tend to move within the same phase position as the stimulated leg. Moving the receptor-apodeme in a middle leg has no influence on the ipsilateral hind leg, but a weak influence on the ipsilateral front leg, which tends to move within the same phase position as the middle leg. In the discussion (I) a hypothesis is presented according to which the active response is a mechanism for adapting the leg movement to a surface which suddenly gives way (I 5). The influence on the contralateral middle leg seems to be a part of this mechanism (I 6). This reaction has nothing to do with the coordination of leg movements in walk (I 7). The feed-back systems which control the distance between the body and the walking surface may be inactive during walking (I 8), but those systems which control the forward movement of the body must be active. Since the feed-back system of the Kniesehnen-reflex controls predominantly the body-ground-distance it seems likely that it is normally inactive during walking.     

Selection on male size,leg length and condition during mate search in a sexually highly dimorphic orb-weaving spider

Mate search plays a central role in hypotheses for the adaptive significance of extreme female-biased sexual size dimorphism (SSD) in animals. Spiders (Araneae) are the only free-living terrestrial taxon where extreme SSD is common. The gravity hypothesis states that small body size in males is favoured during mate search in species where males have to climb to reach females, because body length is inversely proportional to achievable speed on vertical structures. However, locomotive performance of males may also depend on relative leg length. Here we examine selection on male body size and leg length during mate search in the highly dimorphic orb-weaving spider Argiope aurantia, using a multivariate approach to distinguish selection targeted at different components of size. Further, we investigate the scaling relationships between male size and energy reserves, and the differential loss of reserves. Adult males do not feed while roving, and a size-dependent differential energy storage capacity may thus affect male performance during mate search. Contrary to predictions, large body size was favoured in one of two populations, and this was due to selection for longer legs. Male size was not under selection in the second population, but we detected direct selection for longer third legs. Males lost energy reserves during mate search, but this was independent of male size and storage capacity scaled isometrically with size. Thus, mate search is unlikely to lead to selection for small male size, but the hypothesis that relatively longer legs in male spiders reflect a search-adapted morphology is supported.     

Common motor mechanisms support body load in serially homologous legs of cockroaches in posture and walking

We studied the mechanisms underlying support of body load in posture and walking in serially homologous legs of cockroaches. Activities of the trochanteral extensor muscle in the front or middle legs were recorded neurographically while animals were videotaped. Body load was increased via magnets attached to the thorax and varied through a coil below the substrate. In posture, tonic firing of the slow trochanteral extensor motoneuron (Ds) in each leg was strongly modulated by changing body load. Rapid load increases produced decreases in body height and sharp increments in extensor firing. The peak of extensor activity more closely approximated the maximum velocity of body displacement than the body position. In walking, extensor bursts in front and middle legs were initiated during swing and continued into the stance phase. Moderate tonic increases in body load elicited similar, specific, phase dependent changes in both legs: extensor firing was not altered in swing but was higher after foot placement in stance. These motor adjustments to load are not anticipatory but apparently depend upon sensory feedback. These data are consistent with previous findings in the hind legs and support the idea that body load is countered by common motor mechanisms in serially homologous legs.     

Multisensory control of escape in the cockroach Periplaneta americana

1. All giant interneurons (GIs) were ablated from the nerve cord of cockroaches by electrocautery, and escape behavior was analyzed with high-speed videography. Animals with ablations retained the ability to produce wind-triggered escape, although response latency was increased (Table 1, Fig. 4). Subsequent lesions suggested that these non-GI responses depended in part on receptors associated with the antennae.
2. Antennal and cereal systems were compared by analyzing escape responses after amputating either cerci or antennae. With standard wind stimuli (high peak velocity) animals responded after either lesion. With lower intensity winds, animals lost their ability to respond after cereal removal (Fig. 6).
3. Removal of antennae did not cause significant changes in behavioral latency, but in the absence of cerci, animals responded at longer latencies than normal (Fig. 7).
4. The cercal-to-GI system can mediate short latency responses to high or low intensity winds, while the antennal system is responsive to high intensity winds only and operates at relatively longer latencies. These conclusions drawn from lesioned animals were confirmed in intact animals with restricted wind targeting the cerci or antennae only (Fig. 9).
5. The antennae do not represent a primary wind-sensory system, but may have a direct mechanosensory role in escape.

     

Acoustic orientation in adult, female crickets (Gryllus bimaculatus de Geer) after unilateral foreleg amputation in the larva

Summary InGryllus bimaculatus females one foreleg was amputated at the coxa-trochanter joint in the 2nd, 4th or 8th/9th larval instar. A leg of up to normal length is regenerated (Fig. 1) but it lacks a functional ear. In spite of the, usually shorter, regenerated foreleg, the adult one-eared crickets show no impairments in walking when tested on a locomotion compensator. Without sound they walk erratically and most of them weakly circle towards the intact side (Fig. 2).With calling song presentation three response types can be distinguished:tracking (Fig. 3A), hanging on (Fig. 3B) or continuouscircling towards the intact side (Fig. 3C, D). Turning tendencies in monaurals increase with song intensity and exceed those of intact and bilaterally operated animals (Fig. 4). Course deviations towards the intact side also slightly increase with intensity (Fig. 5). Course stability is reduced compared to that of intact animals but exceeds that of bilaterally operated crickets (Figs. 5, 6). It is best at 60 dB and deteriorates at higher sound intensities (Fig. 6). The percentage of monaurals tracking or hanging on decreases with increasing intensity (Fig. 7B). Tracking is established in most animals but it is limited to a narrow intensity range (Fig. 7A, C). Apart from an increased percentage of tracking after early operations (Fig. 7D), there are no prominent changes in orientational parameters with the date of foreleg amputation.Reamputation of the regenerated leg in the adult monaurals does not significantly impair acoustic orientation (Figs. 8, 9), but occlusion of the ipsilateral prothoracic spiracle does (Figs. 10, 11).An attempt is made to correlate the behavioral performance with the activity of auditory interneurons which have undergone morphological and physiological changes (Fig. 12).     

Interacting Effects of Leg Autotomy and Exposure to Predator Cues on Survival in A Wolf Spider (<Emphasis Type="Italic">Pardosa valens</Emphasis>)

Chemical cues from predators (kairomones) are used by many aquatic and terrestrial animals when deciding on behavioral responses to predation threats. These responses may also be affected by the animal’s physiological state (e.g., nutrition level, parasitism, or prior injury), which could alter normal responses to kairomones. In this study, we examined effects of leg autotomy (the voluntary sacrifice of a leg) on subsequent responses to predator chemical cues in females of the riparian-zone wolf spider Pardosa valens. In a fully-crossed design, spiders with all legs intact or with one leg removed were exposed to one of two cue treatments for 90 min: a control (no predator cue) or one with chemical cues (silk and excreta) from a larger sympatric wolf spider, Rabidosa santrita. We then introduced an R. santrita into each container, and recorded subsequent survival of P. valens. Survivorship was significantly higher for individuals previously exposed to predator cues than for those in the control group; however, autotomy had no effect on survivorship, which was similar for both intact and autotomized spiders in both the predator-cue and control treatments. In addition, although P. valens were more likely to be found off the substrate than on it when the predator was added in each of the four treatment pairings, this initial position did not influence survivorship. These results therefore indicate that P. valens can behaviorally respond to predator kairomones in ways that reduce their risk of predation, but that this response is unaffected by the prior sacrifice of a leg.     

Mechanisms of stick insect locomotion in a gap-crossing paradigm

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

Similarity in multilegged locomotion: Bouncing like a monopode

Despite impressive variation in leg number, length, position and type of skeleton, similarities of legged, pedestrian locomotion exist in energetics, gait, stride frequency and ground-reaction force. Analysis of data available in the literature showed that a bouncing, spring-mass, monopode model can approximate the energetics and dynamics of trotting, running, and hopping in animals as diverse as cockroaches, quail and kangaroos. From an animal's mechanical-energy fluctuation and ground-reaction force, we calculated the compression of a virtual monopode's leg and its stiffness. Comparison of dimensionless parameters revealed that locomotor dynamics depend on gait and leg number and not on body mass. Relative stiffness per leg was similar for all animals and appears to be a very conservative quantity in the design of legged locomotor systems. Differences in the general dynamics of gait are based largely on the number of legs acting simultaneously to determine the total stiffness of the system. Four- and six-legged trotters had a greater whole body stiffness than two-legged runners operating their systems at about the same relative speed. The greater whole body stiffness in trotters resulted in a smaller compression of the virtual leg and a higher natural frequency and stride frequency.