Ultrastructure of tarsal sensilla and other integument structures of two Pseudocellus species (Ricinulei, Arachnida)

Ricinuleids are one of the least investigated groups of Arachnida. In particular, knowledge of their ultrastructure is poor. Observations of the distal tarsomeres of ricinuleids show differences in their shape and equipment of surface structures. Legs I and II are used by the Ricinulei to explore their surroundings with tentative movements. The tarsomeres of these legs show similarities in shape and surface structures that distinguish them from those of legs III and IV. In this study, 11 different structures of the tarsomere surfaces of two cave-dwelling species, Pseudocellus pearsei and P. boneti from México, were investigated for the first time with scanning and transmission electron microscopy and discussed regarding their possible function: 1) a single treelike ramifying seta resembles a no pore single-walled (np-sw) sensillum; 2) setae occurring in a small number and possessing a bipartite shaft represent terminal pore single-walled (tp-sw) sensilla. The surface of the proximal half of the shaft shows small branches. The distal half has a smooth surface; 3) long setae with conspicuous longitudinal lamellae show characteristics of chemoreceptive wall pore single-walled (wp-sw) sensilla; 4) frequent small wp-sw sensilla with flat and irregular lamellae; 5) very short wp-sw sensilla occurring solitary or in groups; 6) a few short setae with smooth surface correspond to wp-sw sensilla; 7) a single short clubbed seta articulating in a flat pit is considered to be a np-sw sensillum; 8) common long setae with a pointed tip show characteristics of mechanoreceptive np-sw sensilla; 9) ventral setae with adhesive and mechanosensory function are accompanied by multicellular "class III" glands; 10) slit organs with mechanoreceptive function; and 11) dome-like tubercles with no indication of sensorial function. Several of these sensilla form a sensory field on the dorsofrontal surface which is particularly pronounced on the distal tarsomeres of legs I and II.     

革螨跗感器的结构和功能

本文进一步研究了:④厩真厉螨截肢前后的爬行行为,表明第1对足其感觉功能;②用古拉广厉螨分别截各对足驱避反应的对比试验,见到只有当截去第1对足跗节时失去嗅觉功能,而截去第Ⅱ、Ⅲ、Ⅳ对足时,各组都仍有嗅觉功能;⑤对格氏血厉螨、厩真厉螨、毒厉螨和鼠颚毛厉螨进行涂漆前后的驱避试验,显示当跗感器被涂满封闭,则嗅觉功能消失;④以0.5%结晶紫或龙胆紫液染色的截肢标本,观察了厩真厉螨、毒厉螨、格氏血厉螨、古拉广厉螨及尾足螨股一种螨,足Ⅰ跗节末端凹窝中,至少都存在两类感毛,钝钉型感毛和长而尖的刚毛型感毛;⑤厩真厉螨雌螨和幼螨跗感器的钝钉毛分别为8根和5根,另外各有2根短而尖的毛,分别测定了长度,描述了形态特点;⑥透射电镜观察厩真厉螨、毒厉螨等的跗感器钝钉毛,毛外围有表皮壁,壁上有很多微孔,内有中心腔,腔内有树突。属化感器——嗅觉器;⑦电生理技术研究,当用氨和醋酸的气体刺激厩真厉螨、毒厉螨的离体足Ⅰ时,均产生明显的应激电位差,充分证明足Ⅰ辩节有嗅觉功能。     

Insect walking techniques on thin stems

The attachment ability of insects on surfaces are associated not only with the micro- and nanostructure of the adhering part of an attachment device, but also with the global scale kinematics responsible for contact formation and release. In the present study, the locomotory techniques of several representatives of insects from four different orders (Orthoptera, Heteroptera, Coleoptera, and Hymenoptera), possessing different types of attachment structures, are described. The study is based on video recordings of insects walking on a flat surface and on cylindrical rods of various thickness, imitating plant stems. Attachment devices of tarsi and pretarsi were visualized using Scanning Electron Microscopy. The results show a different manner in the use of adhesive structures on substrates with various curvatures. Insects bearing attachment pads on proximal tarsomeres usually touch flat and curved substrates using all tarsomeres, whereas insects with their attachment devices on the distal tarsomeres usually walk on flat surfaces using the distal tarsomeres of the overextended tarsus. On substrates, with diameters comparable to or larger than the tarsus length, insects walk above the stem by clasping the stem with the bent tarsi. On thin stems, insects clasp the stem between their tarsi and hang under the stem. Thus, on thin and thick rods, forces applied to attachment organs act in opposite directions. There are two methods of leg positioning for walking on a rough flat substrate. In the first case, the tarsus is straightened and the rough substrate is gripped between the claws and the proximal complex of attachment devices (tarsal euplantulae, fossulae spongiosa, and terminal spurs of tibiae). In the second case the tibia does not touch the substrate; the insect is supported only by distal tarsomeres. The tarsus is in an overextended condition. On rods, with diameters comparable to or larger than the tarsus length, insects walk by clasping the stem with the bent tarsi. This posture is characteristic for the majority of insects independent of the tarsal position they normally use while walking on a plane. If the rod’s diameter is smaller than the tarsus length, walking insects usually clutch it between contralateral tarsi. Using such a posture they are supported by interlocking or by strong friction, generated by attachment devices of the proximal tarsomeres, and do not use attachment devices of the pretarsus. Contact with the substrate is reinforced due to the coordinated contralateral clutch using all supporting legs. It is concluded that the use of different types of attachment structures correlates with locomotory techniques. Handling Editor: Heikki Hokkanen     

Arboreallty and morphological evolution in ground beetles (Carabidae: Harpalinae): testing the taxon pulse model

Abstract.— One-third to two-thirds of all tropical carabids, or ground beetles, are arboreal, and evolution of arboreality has been proposed to be a dead end in this group. Many arboreal carabids have unusual morphological features that have been proposed to be adaptations for life on vegetation, including large, hemispheric eyes; an elongated prothorax; long elytra; long legs; bilobed fourth tarsomeres; adhesive setae on tarsi; and pectinate claws. However, correlations between these features and arboreality have not been rigorously tested previously. I examined the evolution of arboreality and morphological features often associated with this habitat in a phylogenetic context. The number and rates of origins and losses of arboreality in carabids in the subfamily Harpalinae were inferred with parsimony and maximum-likelihood on a variety of phylogenetic hypotheses. Correlated evolution in arboreality and morphological characters was tested with concentrated changes tests, maximum-likelihood, and independent contrasts on optimal phylogenies. There is strong evidence that both arboreality and the morphological features examined originated multiple times and can be reversed, and in no case could the hypothesis of equal rates of gains and losses be rejected. Several features are associated with arboreality: adhesive setae on the tarsi, bilobed tarsomeres, and possibly pectinate claws and an elongated prothorax. Bulgy eyes, long legs, and long elytra were not correlated with arboreality and are probably not arboreal adaptations. The evolution of arboreal carabids has not been unidirectional. These beetles have experienced multiple gains and losses of arboreality and the morphological characters commonly associated with the arboreal habitat. The evolutionary process of unidirectional character change may not be as widespread as previously thought and reversal from specialized lifestyles or habitats may be common.     

The design of the fly adhesive pad: distal tenent setae are adapted to the delivery of an adhesive secretion

Flies (Brachycera) have adhesive pads called pulvilli at the terminal tarsomere. The pulvilli are covered by tenent setae, sometimes termed tenent hairs, which serve to increase the actual area of attachment to the surface. By using transmission and scanning electron microscopy it is shown that proximal and distal tenent setae have different ultrastructures. The design of distal adhesive setae is adapted for the release of adhesive substances close to the area of contact. It is concluded that secretion injection is precisely targeted under the distal tip of a single seta.     

The problem of the number of tarsomeres in the regenerated cockroach leg.

There are 5 tarsomeres in the normal cockroach leg, but this number is often reduced in regenerated legs. In order to examine this complicated situation, fore-, mid-, and hindlegs of German cockroaches were amputated at 11 different tarsal levels and at 18 different times during the last instar. When tarsi were amputated at or proximal to the 3rd tarsomere, 4-segmented tarsi regenerated. When legs were amputated distal to the 3rd tarsomere, the regenerated tarsi had 5 segments. Three-segmented tarsi rarely regenerated when legs were amputated proximal to 3rd tarsomere and in the latter half of the instar period. The lengths of all tarsomeres of regenerated tarsi were measured together with those of unoperated contralateral tarsomeres, and the ratios of the former to the latter were calculated. The ratios ranged from 28 to 138% for the various tarsomeres and levels of amputation. From a comparison of the ratios and morphological observations, it was suggested that the 3rd tarsomere of the normal 5-segmented tarsus has disappeared in the regenerated 4-segmented tarsus. Pads and disto-lateral spines of tarsomeres were observed on unoperated and regenerated tarsi. It was of interest that double spines were often found on the 4-segmented tarsi, mostly on the 2nd tarsomere, just proximal to the position of the missing 3rd tarsomere. This observation supported the idea that the 3rd tarsomere has not simply disappeared, but has probably fused with the 2nd tarsomere.     

Tarsal chemoreception in the polyphagous grasshopper Schistocerca americana: behavioural assays, sensilla distributions and electrophysiology

ABSTRACT Behavioural and electrophysiological responses of Schistocerca americana (Drury) (Orthoptera: Acrididae) to chemical stimulation of the tarsi were investigated. Using restrained insects, differences in leg-waving behaviour were observed following stimulation by sucrose and nicotine hydrogen tartrate (NHT), compared to control stimulations by water. Furthermore, free-walking insects were able to detect NHT on leaf surfaces, resulting in leg-raising to avoid tarsal contact.
SEM studies showed the presence of numerous peg chemoreceptor sensilla on the ventral surface of the tarsus. Tip recordings from such pegs showed activity from up to three chemosensitive neurones, plus a mechanoreceptor neurone. Stimulation by NaCl and KC1 elicited similar responses from two or three neurones in all sensilla tested, with increased firing rates at higher concentrations. Sucrose caused an increase in firing rate in few sensilla. In such cases several neurones were stimulated, and there was no evidence of a specific neurone sensitive to sucrose. In contrast, NHT elicited rapid firing in a single neurone, which was not sensitive to NaCl. Stimulation by NHT also inhibited the activity of the NaCl-sensitive neurones.
Possible mechanisms for chemical discrimination in S. americana tarsi are compared with those previously proposed for grasshopper mouthpart sensilla, and the significance of a NHT-sensitive neurone in tarsal sensilla is discussed.     

The pretarsus of salticid spiders

The pretarsus of Phidippus audax (Hentz) consists of two claws flexibly articulated to a central claw lever which is flanked on either side by a curved plate of tenent setae. The claw apparatus allows for retraction of the claws by means of a dorsal cuticular cable of the pretarsal levator, while extension involves the pull of the pretarsal depressor on a ventral cable attached to the claw lever. A series of slit sensilla are strategically situated on either side of this lever. The anterior and posterior claws of the pretarsus differ in the number and spacing of their constituent teeth. The claw tufts are composed of specialized setae which account for the mechanical traction of the foot-pads. Whorled and filamentous setae of the distal tarsus are associated with the pretarsus. Comparable structures are found on other salticids.     

The adhesive organ of the blowfly, Calliphora vomitoria: a functional approach (Diptera: Calliphoridae)

The external morphology of the terminal region of the fifth tarsal segment of the blowfly, Calliphora vomitoria (L.) has been studied using light and scanning electron microscopy (S.E.M.). The pulvilli, with their numerous tenent hairs of spatulate form projecting from the ventral surface, are responsible for adhesion to smooth surfaces. The two large claws are believed to be important in clinging to irregularities in surfaces. Two footplates, possibly sensory organs, lie in close association with the base of the large ventral seta, the empodium. Blowflies release a non-volatile lipid secretion on to the spatulate ends of the tenent hairs and this secretion is essential to the adhesion process on smooth surfaces. The force of adhesion has been measured for tethered blowflies on glass using both vertical and lateral pulls; lateral pulls gave much greater forces. It is concluded that surface tension of the lipid secretion under tenent hairs is sufficient to enable successful adhesion to smooth surfaces by blowflies.     

Interaction of liquid epicuticular hydrocarbons and tarsal adhesive secretion in Leptinotarsa decemlineata Say (Coleoptera: Chrysomelidae)

Species of various insect orders possess specialised tarsal adhesive structures covered by a thin liquid film, which is deposited in the form of footprints. This adhesive liquid has been suggested to be chemically and physiologically related to the epicuticular lipid layer, which naturally covers the body of insects and acts as the prime barrier to environmental stresses, such as desiccation. The functional efficiency of the layer, however, is jeopardised by partial melting that may occur at physiological temperatures. In this study, light microscopic images of elytral prints show that the epicuticular lipid layer of the Colorado potato beetle Leptinotarsa decemlineata actually is partially liquid and chemical investigations reveal the high similarity of the epicuticular hydrocarbon pattern and the tarsal liquid. By means of chemical manipulation of the surface hydrocarbon composition of live beetles, the substance exchange between their tarsal adhesive hairs and the body surface is monitored. Histological sections of L. decemlineata tarsi, furthermore, reveal glandular cells connected to individual adhesive setae and departing from these results, an idea of a general mechanism of tarsal secretion is developed and discussed in a functional–ecological context.     

Show me your tenent setae and I tell you who you are – Telling the story of a neglected character complex with phylogenetic signals using Leiodidae (Coleoptera) as a case study

The tarsal setae in 97 species of Leiodidae and eight outgroups were examined using SEM imaging and dissections. Modified adhesive setae present in males are referred to as “male tenent setae” (MTS). In most cases, dilated tarsomeres were associated with MTS, which were always present on the protarsi and sometimes the mesotarsi. MTS are reported for the first time on the mesotarsi of Leptodirini and on the metatarsi in two genera of Sogdini. Contrary to reports in the literature, the reduction in the number of the MTS bearing mesotarsomeres is considered a derived condition. Both sexes of Leptinus (Platypsyllinae) have modified setae (referred to as tenent setae in the literature), probably related to their specialised association with mammals, and a patch of MTS was recognized for the first time among those modified setae among males. Four main types of MTS are recognised: (1) a plesiomorphic discoidal type that has a shaft with a round cross-section and maintains a similar diameter throughout its length until forming the expanded discoidal terminal plate; (2) a minidiscoidal type, similar to discoidal but with a relatively small terminal plate, found in Cholevinae; (3) a conical type, present in Leiodinae (excluding Estadiini) where the shaft increases in diameter until forming the terminal plate; and (4) a spatulate type, where an even wider terminal plate has a lateral projection, derived from the conical form and synapomorphic for the leiodine tribes Pseudoliodini, Scotocryptini, and possibly Agathidiini.     

Ontogenetic variation in the sensory structures on the pedipalps of cosmetid harvestmen (Arachnida,Opiliones, Laniatores)

In arachnids, pedipalps are highly variable appendages that may be used in feeding, courtship, defense, and agonistic encounters. In cosmetid harvestmen, adults have pedipalps that feature flattened femora, spoon‐shaped tibiae, and robust tarsal claws. In contrast, the pedipalps of nymphs are elongate with cylindrical podomeres and are adorned with delicate pretarsi. In this study, we used scanning electron microscopy to examine the distribution of cuticular structures (e.g., sensilla chaetica, pores) on the elements of the pedipalps of adults and nymphs of three species of cosmetid harvestmen. Our results indicate that there is considerable ontogenetic variation in the morphology of the trochanter, femur, patella, tibia, and tarsus. The pretarsus of the nymph has a ventral patch of setae that is absent from the adult tarsal claw. We observed this structure on all three cosmetid species as well as on the pedipalps of an additional seven morphospecies of nymphs collected in Belize and Costa Rica. This structure may represent a previously unrecognized autapomorphy for Cosmetidae. Examinations of the pedipalps of antepenultimate nymphs of additional gonyleptoidean harvestmen representing the families Ampycidae, Cranaidae, Manaosbiidae, and Stygnidae revealed the occurrence of unusual, plumose tarsal setae, but no setal patches on the tarsal claw.     

Microstructure of the tarsal attachment devices in the earwig Timomenus komarovi

The biological attachment device on the tarsal appendage of the earwig, Timomenus komarovi (Insecta: Dermaptera: Forficulidae) was investigated using field emission scanning electron microscopy to reveal the fine structural characteristics of its biological attachment devices to move on smooth and rough surfaces. They attach to rough substrates using their pretarsal claws; however, attachment to smooth surfaces is achieved by means of two groups of hairy tarsal pads. This biological attachment device consists of fine hairy setae with various contact sizes. Three different groups of tenent setae were distinguished depending on the cuticular substructure of the endplates. Two groups of setae commonly had flattened surfaces, and they were covered with either spoon‐shaped or spatula‐shaped endplates, respectively. While the flattened tip setae were distributed at the central region, the pointed tip setae were characteristically found along the marginal region. There were no obvious gender‐specific differences between fibrillar adhesive pads in this insect mainly because the forceps‐like pincers are used during copulation to grasp the partner.     

Structure and mechanics of the tarsal chain in the hornet, Vespa crabro (Hymenoptera: Vespidae): implications on the attachment mechanism

Two combined mechanisms on the hornet tarsus are adapted to attachment to the substrate: a friction-based (claws and spines) and an adhesion-based one (arolium). There are two ranges of substrate roughness optimal for attachment, either very smooth or very rough. There is an intermediate range of substrate grains of small but non-zero size, where both of these mechanisms fail. The optimal size of substrate grains for hornet grasping was 50-100 microm. Maximal hold to the substrate was achieved when surface irregularities were clamped between the claws of opposite legs. In such a position, the insect could withstand an external force which was almost 25 times larger than its own weight. The tarsal chain is an important part of the entire attachment mechanism. The articulations in the kinematic chain of tibia-tarsus-pretarsus are monocondylar. Three tarsal muscles and one head of the claw retractor muscle originate in the tibia. On pull to the retractor tendon, the tarsus bends in a plane. All elements of the tarsal kinematic chain have one active degree of freedom. The distance between the intertarsomeric articulation point and the tendon of the claw retractor (75-194 microm) corresponds to an efficiency of 1 degrees per 1-3 mircom of pulling distance travelled by the tendon. The claw turns about 1 degrees per 4.3-5.0 microm of pulling distance travelled by the unguitractor. The arolium turns forward and downward simultaneously with flexion of the claws. The kinematic chain of the arolium lacks real condylar joints except the joint at the base of the manubrium. Other components are tied by flexible transmissions of the membranous cuticle. The walking hornet rests on distal tarsomeres of extended tarsi. If the retractor tendon inside the tarsus is fixed, passive extension of the tarsomeres might be replaced by claw flexion. Tarsal chain rigidity, measured with the force tester, increased when the retractor tendon was tightened. Probably, pull to the tendon compresses the tarsomeres, increasing friction within contacting areas of rippled surfaces surrounding condyles within articulations.     

Microstructure of the tarsal adhesive organs in the bark beetle Ips acuminatus,and their implication as external carriers of pathogens

Ips acuminatus is a common group of bark beetles that infest and damage pine and spruce trees. As a part of research for controlling this insect pest, the adhesive organs on the tarsal appendages were examined using field emission scanning electron microscopy (FE-SEM) to reveal the microstructural characteristics of its biological attachment system. In addition, we also demonstrate their ability to act as external carriers of pathogens. This bark beetle has a characteristic attachment apparatus to move both smooth and rough surfaces. The claws are connected with a pretarsal segment, and their apical diverged hooks are developed to hold rough substrates; however, landing on smooth surfaces is achieved by means of three groups of hairy tarsal pads. The adhesive pads are basically composed of the flattened tip setae usually with a spatula-shaped endplate. Although this bark beetle did not have mycangial cavities, yeast-like spores were concentrated at the invaginated surface of legs where cuticular hairs are densely packed. In particular, the base stalk of the adhesive pad had a sufficient space to accept spores during the dynamic movement of tenent setae.     

Morphological variation in the forelegs of the Hawaiian Drosophilidae. I. The AMC clade

The Hawaiian Drosophilidae possess spectacular diversity in male foreleg modifications, many of which are unknown in other Diptera. The greatest diversity in foreleg morphology is in the antopocerus, modified tarsus, and ciliated tarsus clade (AMC Clade), a group of 95 species. The modified tarsus flies are divided into the bristle, ciliated, split, and spoon tarsus subgroups. The bristle tarsus species feature one or two rows of thickened setae on the basitarsus. The split tarsus species are characterized by only having four tarsal segments, in contrast to five tarsomeres in the remainder of Diptera. Based on comparisons of the apparent ground state of ventral setal rows across the Hawaiian Drosophila, we suggest that it is the second tarsal segment which has been lost. The spoon tarsus species are characterized by having the second tarsomere modified into a setae‐filled, concave‐shaped spoon. The ciliated tarsus species, all of which possess one or more elongate setae on the tarsus of males, are probably not monophyletic with respect to the bristle tarsus subgroup. The antopocerus flies are characterized by a long basitarsus, with extensive setation on the tibia and basitarsus of some species. The use of these foreleg modifications in courtship behavior has been previously described and it is suggested that they represent the results of sexual selection. The current work expands on previous morphological analyses, presenting a level of detail not previously possible without SEM images. The new characters revealed will figure prominently in future cladistic studies. J. Morphol. 2010. © 2009 Wiley‐Liss, Inc.     

Evolution of locomotory attachment pads in the Dermaptera (Insecta)

This contribution is the first comparative SEM study of tarsal and pretarsal structures of 18 dermapteran species, including epizoic Hemimeridae, rare Apachyidae, as well as basal Pygidicranidae. Our data reject the apparent uniformity of this taxon and show that representatives of Dermaptera have independently evolved both types of attachment mechanisms: hairy and smooth. Dermaptera possess a wide spectrum of attachment devices: arolia, euplantulae, tarsal surfaces covered with specialised tenent setae and other types of cuticular outgrowths. The groundpattern of the pretarsal and tarsal attachment structures was reconstructed by mapping their characters onto a cladogram, generated without tarsal characters. In the groundpattern of recent Dermaptera, the tarsus consists of three tarsomeres. Presumably, the last common ancestor of the Dermaptera possessed an arolium, since this structure occurs in the most basal taxa: Diplatyidae, Karschiellidae (partim, adults), Pygidicranidae partim, and Apachyidae. The absence of arolium in two of the pygidicranid taxa is probably due to a secondary loss. The arolium seems to be reduced in the 'higher Dermaptera' and amongst them, only the Geracinae, which belong to the Spongiphoridae and, hence, to the well supported Eudermaptera [European Journal of Entomology, 98 (2001), 445], evolved this structure convergently. The character state distribution for euplantulae suggests their evolution being similar to that of the arolium. All species of Tagalina possess a specialised tarsus with a strongly dilated second tarsomere. The same applies to the Forficulidae. However, their relatively remote phylogenetic position to Tagalina burri is a convincing reason to assume convergent evolution of this character. The Chelisochidae, with a slender, elongated second tarsomere, possess a unique structure, which supports their monophyly. The special, heart shaped structure of the second tarsal segments in the Forficulidae suggests their monophyly. The attachment structures of Hemimerus vosseleri are highly derived and probably autapomorphic for this taxon.     

The harvestman tarsus and tarsal flexor system with notes on appendicular sensory structures in laniatores

The tarsal flexor system, a novel system of retinacular structures, is described for the first time based on morphological and ultrastructural examinations of several Neotropical harvestmen (Opiliones: Laniatores). The tarsal flexor system is made up of many individual pulleys that function to maintain close apposition between the tendon and internal ventral surface of the cuticle in the tarsus. Pulley cells are specialized tendinous cells that form the semi‐circular, retinacular pulley system in the tarsus; these cells contain parallel arrays of microtubules that attach to cuticular fibers extending from deep within the cuticle (i.e., tonofibrillae). The tarsal flexor system is hypothesized to provide mechanical advantage for tarsal flexion and other movements of the tarsus. This system is discussed with regards to other lineages of Opiliones, especially those that exhibit prehensility of the tarsus (i.e., Eupnoi). Comparing tarsal morphology of laniatorid harvestmen to other well‐studied arachnids, we review some literature that may indicate the presence of similar tarsal structures in several arachnid orders. The general internal organization of the tarsus is described, and ultrastructural data are presented for a number of tarsal structures, including sensilla chaetica and the tarsal perforated organ. Sensilla chaetica possess an internal lumen with dendritic processes in the center and exhibit micropores at the distal tip. With respect to the tarsal perforated organ, we found no ultrastructural evidence for a sensory or secretory function, and we argue that this structure is the result of a large pulley attachment site on the internal surface of the cuticle. A small, previously undocumented muscle located in the basitarsus is also reported. J. Morphol. 274:1216–1229, 2013. © 2013 Wiley Periodicals, Inc.     

Detecting substrate engagement: responses of tarsal campaniform sensilla in cockroaches

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