Joint torques in a freely walking insect reveal distinct functions of leg joints in propulsion and posture control

Proceedings. Biological Sciences
Chris J DallmannJosef Schmitz

Abstract

Determining the mechanical output of limb joints is critical for understanding the control of complex motor behaviours such as walking. In the case of insect walking, the neural infrastructure for single-joint control is well described. However, a detailed description of the motor output in form of time-varying joint torques is lacking. Here, we determine joint torques in the stick insect to identify leg joint function in the control of body height and propulsion. Torques were determined by measuring whole-body kinematics and ground reaction forces in freely walking animals. We demonstrate that despite strong differences in morphology and posture, stick insects show a functional division of joints similar to other insect model systems. Propulsion was generated by strong depression torques about the coxa-trochanter joint, not by retraction or flexion/extension torques. Torques about the respective thorax-coxa and femur-tibia joints were often directed opposite to fore-aft forces and joint movements. This suggests a posture-dependent mechanism that counteracts collapse of the leg under body load and directs the resultant force vector such that strong depression torques can control both body height and propulsion. Our findings par...Continue Reading

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Citations

Feb 18, 2017·Nature Communications·Pavan RamdyaDario Floreano
May 30, 2017·Arthropod Structure & Development·Sasha N ZillAnsgar Büschges
Dec 1, 2017·Proceedings. Biological Sciences·Chris J DallmannJosef Schmitz
Jul 21, 2017·Journal of Neurophysiology·Charalampos MantziarisAnsgar Büschges
Sep 26, 2019·Journal of Neurophysiology·Joscha SchmitzAnsgar Büschges
Nov 16, 2019·The Journal of Experimental Biology·Thies H Büscher, Stanislav N Gorb
Jun 20, 2020·Bioinspiration & Biomimetics·Clarissa GoldsmithRoger D Quinn
Apr 5, 2019·The Journal of Experimental Biology·Chris J DallmannJosef Schmitz
Jul 18, 2020·The Journal of Comparative Neurology·Gesa F DingesAnsgar Büschges
Nov 12, 2019·Frontiers in Neurorobotics·Volker DürrAxel Schneider
Apr 13, 2019·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Anna HaberkornAnsgar Büschges
Jun 10, 2017·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Elzbieta Godlewska-HammelMatthias Gruhn
Jan 19, 2021·Journal of Comparative Physiology. A, Neuroethology, Sensory, Neural, and Behavioral Physiology·Reinhard BlickhanFriedrich G Barth
Sep 15, 2020·Bioinspiration & Biomimetics·C A GoldsmithR D Quinn
May 18, 2021·International Biomechanics·J W FoxW H Weimar
Jun 10, 2021·Journal of Neurophysiology·Sasha N ZillJosef Schmitz
Oct 28, 2021·Journal of Neurophysiology·Corinna Gebehart, Ansgar Büschges

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