The attachment response of the cercaria of Schistosoma mansoni. Influence of natural substrates and temperature (author's transl)]

The behaviour of the cercaria, following contact with different animal and human substrates during swimming, has been studied. Four patterns of behavior related to the intensity of stimulation can be distinguished: 1. backward reaction, 2. stopping, 3. forward reaction, 4. attachment (Figs. 2 and 3). Mechanical stimulation of the cercaria by touching or water turbulence, prior to contact with the substrate has an insignificant effect on attachment. Both attachment and the first step in penetration (crawling over the substrate) are stimulated by a rise in temperature (Figs. 4 and 5) and the chemical properties of the substrate. However, the steps in penetration may possibly be stimulated by chemical components and perceived by receptors different from those involved in attachment.     

Leg-to-body geometry determines eyestalk reactions to substrate til

Summary The effect of oscillatory movement of single legs (about C-B axis) on compensatory eyestalk reactions and on leg counterforce as normally produced by substrate tilt has been investigated with the legs at different states of flexion (M-C joint) and leg-to-body orientation (T-C joint). Eye response and force reaction released by standard C-B movement increase with increasing angle of M-C (Figs. 2, 4) and decrease with decrease of T-C angle (Fig. 3). The effects demonstrate a multiplying influence of M-C signal and T-C signal on C-B signals. The stump of an autotomized leg releases eye responses of similar magnitude to unimpaired single legs (Fig. 5).The data are discussed in relation to neurophysiological findings and with respect to the geometrical implications for the mechanism of substrate orientation (Fig. 6).We wish to give thanks to the Max-Planck-Institut (FS, DMN) and to the Carnegie Trust (DMN) for financial support. We thank Renate Alton for technical assistance and Dorothee Maier for her help with the data analysis. Particular thanks should be expressed to the Istituto di Zoologia, Universita di Firenze (Director: Prof. Dr. L. Pardi) for promoting this research.     

On the invariance of visual stimulus efficacy with respect to variable spatial positions

Summary In the fly,Calliphora erythrocephala, visual stimuli presented in an asymmetrical position with respect to the fly elicit roll or tilt movements of the head by which its dorsal part is moved towards the light areas of the surroundings (Figs. 4–7). The influence of passive body roll and tilt (gravitational stimulus) on the amplitude of these active head movements was investigated for two types of visual stimuli: (1) a dark hollow hemisphere presented in different parts of the fly's visual field, and (2) a moving striped pattern stimulating the lateral parts of one eye only.The response characteristics of the flies in the bimodal situation in which the gravitational stimulus was paired with stimulation by the dark hollow hemisphere can be completely described by the addition of the response characteristics for both unimodal situations, i.e. by the gravity-induced and visually induced characteristics (Figs. 8, 9). Therefore, the stimulus efficacy of the dark hollow hemisphere is independent of (=invariant with respect to) the flies' spatial position. The advantage of this type of interaction between gravity and visual stimulation for the control of body posture near the horizontal is discussed.In contrast, the efficacy of moving patterns depends on (=non-invariant with respect to) the spatial position of the walking fly. Regressive pattern movements exhibit their stronger efficacy with respect to progressive ones only when the gravity receptor system of the legs is stimulated. The stronger efficacy of downward vs upward movements can only be demonstrated when the flies are walking horizontally, independently of whether the leg gravity receptor system is stimulated by gravity or not (Fig. 10).The results are discussed with respect (1) to the invariance and non-invariance of the efficacy of visual stimuli with respect to the direction of the field of gravity, (2) to the formation of reference lines by the gravitational field which are used by the walking fly to determine the orientation of visual patterns, and (3) to the possible location of the underlying convergence between gravitationally and visually evoked excitation. As all types of head responses occur only in walking flies, we also discussed the possible influences of some physiological processes like arousal, proprioceptive feedback during walking and various peripheral sensory inputs on the performance of behavioural responses in the fly (Fig. 11).     

Reactions of the spiny lobster,Palinunis vulgaris,to substrate tilt (I.)

Summary Movements of legs on a tilting footboard during fore-aft and side-side tilts elicit a number of different reactions in the spiny lobster,Palinurus vulgaris. Most prominent among these are the predominantly phasic equilibrium reactions of the antennae in the direction opposite to footboard tilt, and the compensatory phasic and tonic deviations of the eyestalks in the direction of footboard movement. Systematic movements of the abdomen and uropods also take place, and the legs display resistance reactions which oppose board movement. Stimulation of a single leg is sufficient to produce the major components of these responses. After stiffening of the C-B joints reactions fail to appear. Mechanism and functional significance of these reactions are discussed in the context of the relevant biological stimuli.The support of D.M. Neil by the British Council Younger Research Workers Interchange Scheme is gratefully acknowledged. We would also like to express our thanks to Peter Heinecke for the expert work of developing and factoring the electronic control devices, Eberhard Göldner and Jörg Stadier for the skilful construction of the setup. We are furthermore indebted to Russ Fernald for his help with the computer work.     

The function of auditory neurons in cricket phonotaxis

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

Organization of the stomatogastric ganglion of the spiny lobster

Summary The Stomatogastric ganglion ofPanulirus interruptus contains about 30 neurons, and controls the movements of the lobster's stomach. When experimentally isolated, the ganglion continues to generate complex rhythmic patterns of activity in its motor neurons which are similar to those seen in intact animals.In this paper, we describe the synaptic organization of a group of six neurons which drive the stomach's lateral teeth (Figs. 2, 6). This group includes four motor neurons and two interneurons, all but one of which were recorded and stimulated with intracellular microelectrodes.One pair of synergistic motor neurons, LGN and MGN, are electrotonically coupled and reciprocally inhibitory (Figs. 9, 12). A second pair of synergistic motor neurons, the LPGNs, are antagonists of LGN and MGN. The LPGNs are electrotonically coupled (Fig. 14), and are both inhibited by LGN and MGN (Figs. 8, 11). The LPGNs inhibit MGN (Fig. 15) but not LGN. One of the two interneurons in the ganglion, Int 1, reciprocally inhibits both LGN and MGN (Figs. 10, 13). The other interneuron, Int 2, excites Int 1 and inhibits the LPGNs (Fig. 16). The synaptic connections observed in the ganglion are reflected in the spontaneous activity recorded from the isolated ganglion and from intact animals.From the known synaptic organization and observations on the physiological properties of each of the neurons, we have formulated some hypotheses about the pattern-generating mechanism. We found no evidence that any of the neurons are endogenous bursters.We thank D. Kennedy, Eve Marder, and D. Russell for criticizing early drafts of these papers, Nina Pollack and Betty Jorgensen for expert technical assistance, Diane Newsome, SanDee Newcomb, and Pattie Macpherson for typing the many drafts. The authors' research is supported by grant number NS-09322 from N.I.H. and by the Alfred P. Sloan Foundation. B. M. is an NINDS-NIH postdoctoral fellow.     

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

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

Neuroplasticity and phonotaxis in monaural adult female crickets (Gryllus bimaculatus de Geer)

Summary One foreleg was amputated at mid-femur in adultGryllus bimaculatus females. In phonotaxis tests these monaural crickets show course deviations and circling towards the intact side (Fig. 1). Mean course stability is best at 60 and 70 dB (Fig. 2). Here it differs significantly from a threshold value for orientated walking in females operated on the day of adult moult, but not in those operated two weeks later. The orientational performance improves with the interval between amputation and test (Fig. 3).Centripetal cobalt backfills reveal degeneration of tympanal nerve fibers on the amputated side (Fig. 4B, C). The mean number of intact afferents crossing the midline of the prothoracic ganglion is increased in monaural versus binaural crickets. Maximum transmidline extension is not correlated with the period of deafferentation (Fig. 5).Intracellular recording and staining of prothoracic auditory interneurons shows some axonal sprouts in ON1i (intact side) and ON2, but no significant physiological changes (Figs. 6A, D; 8A, C, E, G). Apart from axonal sprouts ON1a (amputated side) may show a few dendritic sprouts into the intact auditory neuropil (Figs. 6C, 7). Excitation in some ON1a-cells reveals functional contacts to intact auditory afferents (via crossing dendrites or possibly crossing afferents, Figs. 6e, 7, 8F). Morphological and associated physiological changes start early in AN2a (amputated side). The degree of crossing dendrites and contralateral excitation increases with postoperative age (Figs. 8H, 9).     

Stick insects walking on a wheel: Perturbations induced by obstruction of leg protraction

Summary Stick insects (Carausius morosus) walking on a wheel were perturbed by restricting the forward protraction of individual legs. A barrier placed before a single middle or rear leg prevented that leg from reaching its normal protraction endpoint but allowed it unimpeded retraction. Upon striking the barrier, the protracting leg attempted to get past it and thereby prolonged protraction. This prolongation increased with the extent to which the obstruction infringed upon the leg's normal step range. Barriers placed near the midpoint of this range elicited large perturbations: the blocked leg often continued its protraction throughout many step cycles of the other legs (Fig. 1 E, F). For the most part walking was irregular and smooth forward progression was disrupted. Nevertheless, the infrequent steps by the affected leg usually were coordinated with those of the adjacent ipsilateral legs.More rostral barrier positions elicited smaller perturbations: the blocked leg usually made one step in each step cycle of the other legs (Fig. 1 B, C, D, G). Measurements for these regular step sequences showed quantitatively that protraction duration increased in proportion to the severity of the infringement on normal leg movement (Figs. 3, 4). The fraction of the step period occupied by protraction increased from ca. 10% for normal walking to ca. 50% for caudal barrier positions. This proportionality is interpreted to show the importance of spatial components of the walking program.When one leg was obstructed, its extended protraction influenced the stepping of the three adjacent legs as follows. First, the ipsilateral rostral leg showed the largest change: its protraction onset was regularly delayed for the duration of the extended protraction (Figs. 4, 7, 8), demonstrating a strong, centrally mediated inhibition. The presence of a further delay of up to 100 to 140 ms suggests that peripheral input from the protracting leg may be important for releasing this inhibition. Second, steps by an adjacent caudal leg were not measurably affected. However, the method may not have sufficed to reveal such effects because during regular walking middle leg protractions rarely lasted long enough to conflict with subsequent steps by the ipsilateral rear leg. Third, contralateral effects differed between middle and rear leg obstructions. If the obstructed leg was a middle leg, its extended protraction had little effect upon stepping by the contralateral middle leg: the latter leg frequently protracted while the blocked leg continued its protraction and there was no consistent change in the phase relation of these two legs (Table 1). In contrast, if the obstructed leg was a rear leg, protractions by the contralateral rear leg tended to be delayed (Table 1).     

A kinematic study of crawling behavior in the leech,Hirudo medicinalis

The medicinal leech crawls along a solid substrate by repeated alternating extensions and shortenings of the body. Extension occurs with the posterior sucker attached and the head sucker free. The head sucker then attaches, followed by shortening and release of the tail sucker. The tail sucker is then pulled toward the head, where it reattaches to the substrate. The head sucker then releases, and another crawling cycle begins (Figs. 1, 5). There are two crawling variants: inchworm crawling, in which the head and tail suckers are closely apposed at the end of a cycle and the body forms a loop above the substrate, and vermiform crawling, in which the suckers are placed farther apart and the body remains fairly close to the substrate (Fig. 1). The cycle period and the distance traveled during a cycle are greater in inchworm than in vermiform crawling; however, the velocity of travel is the same for both (Fig. 2). For both variants, the interval between head sucker attachment and tail sucker release is similar at all cycle periods and has a value consistent with direct interneuronal conduction of a signal from head sucker sensory neurons to tail sucker motor neurons. The interval between tail sucker attachment and head sucker release, however, is longer and varies with the cycle period, suggesting a more complex interneuronal circuit in the pathway from tail sucker sensory neurons to head sucker motor neurons (Fig. 4). The onsets of the components of the crawling cycle (extension, post-extension pause, shortening, and post-shortening pause) show an anteroposterior lag (Figs. 5, 7). For both variants, the travel time between segments varies directly with the period (Fig. 8). For both crawl types, the durations of the cycle components vary directly with the period, with several exceptions (Figs. 9, 10). A model is presented that summarizes the coordination of the various motor events in a cycle of leech crawling (Figs. 11 and 12).     

Anaerobic Degradation of Lactate by Syntrophic Associations of Methanosarcina barkeri and Desulfovibrio Species and Effect of H(2) on Acetate Degradation

When grown in the absence of added sulfate, cocultures of Desulfovibrio desulfuricans or Desulfovibrio vulgaris with Methanobrevibacter smithii (Methanobacterium ruminantium), which uses H(2) and CO(2) for methanogenesis, degraded lactate, with the production of acetate and CH(4). When D. desulfuricans or D. vulgaris was grown in the absence of added sulfate in coculture with Methanosarcina barkeri (type strain), which uses both H(2)-CO(2) and acetate for methanogenesis, lactate was stoichiometrically degraded to CH(4) and presumably to CO(2). During the first 12 days of incubation of the D. desulfuricans-M. barkeri coculture, lactate was completely degraded, with almost stoichiometric production of acetate and CH(4). Later, acetate was degraded to CH(4) and presumably to CO(2). In experiments in which 20 mM acetate and 0 to 20 mM lactate were added to D. desulfuricans-M. barkeri cocultures, no detectable degradation of acetate occurred until the lactate was catabolized. The ultimate rate of acetate utilization for methanogenesis was greater for those cocultures receiving the highest levels of lactate. A small amount of H(2) was detected in cocultures which contained D. desulfuricans and M. barkeri until after all lactate was degraded. The addition of H(2), but not of lactate, to the growth medium inhibited acetate degradation by pure cultures of M. barkeri. Pure cultures of M. barkeri produced CH(4) from acetate at a rate equivalent to that observed for cocultures containing M. barkeri. Inocula of M. barkeri grown with H(2)-CO(2) as the methanogenic substrate produced CH(4) from acetate at a rate equivalent to that observed for acetate-grown inocula when grown in a rumen fluid-vitamin-based medium but not when grown in a yeast extract-based medium. The results suggest that H(2) produced by the Desulfovibrio species during growth with lactate inhibited acetate degradation by M. barkeri.     

Diversity in the oxidation of substrates by cytochrome P450 2D6: lack of an obligatory role of aspartate 301-substrate electrostatic bonding

Cytochrome P450 (P450) 2D6 was first identified as the polymorphic human debrisoquine hydroxylase and subsequently shown to catalyze the oxidation of a variety of drugs containing a basic nitrogen. Residue Asp301 has been characterized as being involved in electrostatic interactions with substrates on the basis of homology modeling and site-directed mutagenesis experiments [Ellis, S. W., Hayhurst, G. P., Smith, G., Lightfoot, T., Wong, M. M. S., Simula, A. P., Ackland, M. J., Sternberg, M. J. E., Lennard, M. S., Tucker, G. T., and Wolf, C. R. (1995) J. Biol. Chem. 270, 29055-29058]. However, pharmacophore models based on the role of Asp301 in substrate binding are compromised by reports of catalytic activity toward substrates devoid of a basic nitrogen, which have generally been ignored. We characterized a high-affinity ligand for P450 2D6, also devoid of a basic nitrogen atom, spirosulfonamide [4-[3-(4-fluorophenyl)-2-oxo-1-oxaspiro[4.4]non-3-en-4-yl]benzenesulfonamide], with K(s) 1.6 microM. Spirosulfonamide is a substrate for P450 2D6 (k(cat) 6.5 min(-)(1) for the formation of a syn spiromethylene carbinol, K(m) 7 microM). Mutation of Asp301 to neutral residues (Asn, Ser, Gly) did not substantially affect the binding of spirosulfonamide (K(s) 2.5-3.5 microM). However, the hydroxylation of spirosulfonamide was attenuated in these mutants to the same extent (90%) as for the classic nitrogenous substrate bufuralol, and the effect of the D301N substitution was manifested on k(cat) but not K(m). Analogues of spirosulfonamide were also evaluated as ligands and substrates. Analogues in which the sulfonamide moiety was modified to an amide, thioamide, methyl sulfone, or hydrogen were ligands with K(s) values of 1.7-32 microM. All were substrates, and the methyl sulfone analogue was oxidized to the syn spiromethylene carbinol analogue of the major spirosulfonamide product. The D301N mutation produced varying changes in the oxidation patterns of the spirosulfonamide analogues. The peptidometic ritonavir and the steroids progesterone and testosterone had been reported to be substrates for P450 2D6, but the affinities (K(s)) were unknown; these were estimated to be 1.2, 1.5, and 15 microM, respectively (cf. 6 microM for the classic substrate bufuralol). The results are consistent with a role of Asp301 other than electrostatic interaction with a positively charged ligand. H-Bonding or electrostatic interactions probably enhance binding of some substrates, but our results show that it is not required for all substrates and explain why predictive models fail to recognize the proclivity for many substrates, especially those containing no basic nitrogen.     

Molecular docking and enzyme kinetic studies of dihydrotanshinone on metabolism of a model CYP2D6 probe substrate in human liver microsomes

The effects of Danshen and its active components (tanshinone I, tanshinone IIA, dihydrotanshinone and cryptotanshinone) on CYP2D6 activity was investigated by measuring the metabolism of a model CYP2D6 probe substrate, dextromethorphan to dextrorphan in human pooled liver microsomes. The ethanolic extract of crude Danshen (6.25-100 μg/ml) decreased dextromethorphan O-demethylation in vitro (IC(50)=23.3 μg/ml) and the water extract of crude Danshen (0.0625-1 mg/ml) showed no inhibition. A commercially available Danshen pill (31.25-500 μg/ml) also decreased CYP2D6 activity (IC(50)=265.8 μg/ml). Among the tanshinones, only dihydrotanshinone significantly inhibited CYP2D6 activity (IC(50)=35.4 μM), compared to quinidine, a specific CYP2D6 inhibitor (IC(50)=0.9 μM). Crytotanshinone, tanshinone I and tanshinone IIA produced weak inhibition, with IC(20) of 40.8 μM, 16.5 μM and 61.4 μM, respectively. Water soluble components such as salvianolic acid B and danshensu did not affect CYP2D6-mediated metabolism. Enzyme kinetics studies showed that inhibition of CYP2D6 activity by the ethanolic extract of crude Danshen and dihydrotanshinone was concentration-dependent, with K(i) values of 4.23 μg/ml and 2.53 μM, respectively, compared to quinidine, K(i)=0.41 μM. Molecular docking study confirmed that dihydrotanshinone and tanshinone I interacted with the Phe120 amino acid residue in the active cavity of CYP2D6 through Pi-Pi interaction, but did not interact with Glu216 and Asp301, the key residues for substrate binding. The logarithm of free binding energy of dihydrotanshinone (-7.6 kcal/mol) to Phe120 was comparable to quinidine (-7.0 kcal/mol) but greater than tanshinone I (-5.4 kcal/mol), indicating dihydrotanshinone has similar affinity to quinidine in binding to the catalytic site on CYP2D6.     

Tonic and modulatory subsystems of the complex gravity receptor system in crickets, Gryllus bimaculatus

The gravity receptor system of crickets Gryllus bimaculatus is composed of antennal, cercal and leg subsystems. The cercal gravity receptors are the club-shaped sensilla. Each of these subsystems elicits compensatory head movements during passive roll.The extent of compensatory head movements depends on the strength of the gravitational stimulus applied to the leg subsystem. Amputation of 2 legs never causes a decrease in reflex amplitude. Unilateral amputation of 1 to 3 legs always induces a roll movement of the head to the intact body side. Therefore, the leg gravity receptor system exerts a modulatory and tonic effect on the neck muscles.The gravity receptors of 1 cercus or 1 antenna only elicit compensatory head movements. They exert no tonic effect on the neck muscles.The results are discussed with respect to (i) the proposed connectivity of the cercus-neck muscle pathway, (ii) mutual inhibitory interactions between the sensory pathways originating in the leg gravity receptors, and (iii) the influence of non-gravitationally induced excitation on the occurrence of compensatory head movements during passive roll of the crickets.     

Relative contribution of arms and legs in humans to propulsion in 25-m sprint front-crawl swimming

Eight male subjects were asked to swim 25 m at maximal velocity while the use of the arm(s) and legs was alternately restricted. Four situations were examined using one arm (1A), two arms (2A), one arm and two legs (1A2L) and both arms and legs (2A2L, normal swim) for propulsion. A significant mean increase of 10% on maximal velocity was obtained in 1A2L and 2A2L compared to 1A and 2A. A non-significant 4% effect was obtained in 1A. This study focused on the actual contribution of leg kick in the 10% gain in maximal velocity. It was clear that the underwater trajectory of the wrist was modified by the action of the legs (most comparisons P < 0.001). Therefore it was thought that the legs enhanced the generated propulsive force by improving the propulsive action of the arm. The arm action was quantified by selecting typical phases from the filmed trajectory of the wrist, namely forward (F), downwards (D) and backwards (B). Although there was a tendency for individual changes in kinematic parameters (F, D and B) to occur with individual changes in velocity when 2A was compared to 2A2L, no relationship was found between the relative changes in F, D and B and relative changes in velocity. This was illustrated by describing the responses of three individuals who could represent three patterns of contribution by legs and arms to propulsion in high speed swimming.     

Responses of non-spiking giant interneurons to substrate tilt in the crayfish, with special reference to multisensory control in the compensatory eyestalk movement system

In the brain of the intact crayfish, three pairs of non-spiking giant interneurons (G1, G2, G3; NGIs) scarcely responded to substrate tilt about the longitudinal axis of the body either in the dark or in the presence of an overhead light. However, when the statolith was removed, these NGIs responded with depolarizing and hyperpolarizing potentials respectively to upward movements of the ipsilateral legs (2nd–5th pereiopods) and upward movements of the contralateral legs produced by substrate tilt. The relationships between the polarity of the potential and the direction of movement in the contralateral legs were opposite to those in the ipsilateral legs. The amplitude of the responses was proportional to the frequency (0.5-0.05 Hz) and amplitude of tilting. When the legs were moved unilaterally, the NGIs responded with depolarizing and hyperpolarizing potentials to upward movements of the ipsilateral legs and to upward movements of the contralateral legs, respectively. When the legs were moved bilaterally in the same direction by upward or downward movement of the substrate, the NGIs scarcely responded to the leg movements. A hypothetical model is presented to account for the pathways of sensory inputs to the NGIs and the role of NGIs in compensatory oculomotor system.     

A model of leg coordination in the stick insect,Carausius morosus

A model of interleg coordination presented in a separate report is evaluated here by perturbing the step pattern in three ways. First, when the initial leg configuration is varied, the simulated leg movements assume a stable coordination from natural starting configurations in a natural way (Fig. 1a). They also rapidly re-establish the normal coordination when started from unnatural configurations (Fig. 1b-d). An explicit hierarchy of natural frequencies for the legs of the three thoracic segments is not required. Second, when the coordination is perturbed by assigning one or more legs a retraction velocity different from the rest, gliding coordination or various integer step ratios can be produced (Figs. 2–4). Third, when the swing of one leg is obstructed, characteristic changes in the stepping of other legs occur (Fig. 5). Overall differences between the step patterns of the model and those of the stick insect are related to the form of the coordinating mechanisms. Errors made by the model, such as overlapping swings by adjacent legs or discrepancies in step timing and step end-points, point out the limitations of a model restricted to kinematic parameters.     

Modulation of shoulder muscle and joint function using a powered upper-limb exoskeleton

Robotic-assistive exoskeletons can enable frequent repetitive movements without the presence of a full-time therapist; however, human-machine interaction and the capacity of powered exoskeletons to attenuate shoulder muscle and joint loading is poorly understood. This study aimed to quantify shoulder muscle and joint force during assisted activities of daily living using a powered robotic upper limb exoskeleton (ArmeoPower, Hocoma). Six healthy male subjects performed abduction, flexion, horizontal flexion, reaching and nose touching activities. These tasks were repeated under two conditions: (i) the exoskeleton compensating only for its own weight, and (ii) the exoskeleton providing full upper limb gravity compensation (i.e., weightlessness). Muscle EMG, joint kinematics and joint torques were simultaneously recorded, and shoulder muscle and joint forces calculated using personalized musculoskeletal models of each subject’s upper limb. The exoskeleton reduced peak joint torques, muscle forces and joint loading by up to 74.8% (0.113 Nm/kg), 88.8% (5.8%BW) and 68.4% (75.6%BW), respectively, with the degree of load attenuation strongly task dependent. The peak compressive, anterior and superior glenohumeral joint force during assisted nose touching was 36.4% (24.6%BW), 72.4% (13.1%BW) and 85.0% (17.2%BW) lower than that during unassisted nose touching, respectively. The present study showed that upper limb weight compensation using an assistive exoskeleton may increase glenohumeral joint stability, since deltoid muscle force, which is the primary contributor to superior glenohumeral joint shear, is attenuated; however, prominent exoskeleton interaction moments are required to position and control the upper limb in space, even under full gravity compensation conditions. The modeling framework and results may be useful in planning targeted upper limb robotic rehabilitation tasks.