Soft-cuticle biomechanics: a constitutive model of anisotropy for caterpillar integument

Finite Bending of Fiber-Reinforced Visco-Hyperelastic Material: Analytical Approach and FEM

This paper presents a new anisotropic visco-hyperelastic constitutive model for finite bending of an incompressible rectangular elastomeric material. The proposed approach is based on the Mooney-Rivlin anisotropic strain energy function and non-linear visco-hyperelastic method. In this study, we aim to examine the mechanical response of a reinforced viscoelastic rectangular bar with a group of fibers under bending. Anisotropic materials are typically composed of one (or more) family of reinforcing fibers embedded within a soft matrix material. This operation may lead to an enhancement in the strength and stiffness of soft materials. In addition, a finite element simulation is carried out to validate the accuracy of the analytical solution. In this research, the well-known stress relaxation test, as well as the multi-step relaxation test, are examined both analytically and numerically. The results obtained from the analytical solution are found to be in good agreement with those from the finite element method. Therefore, it can be deduced that the proposed model is competent in describing the mechanical behavior of fiber-reinforced materials when subjected to finite bending deformations.

A neuromechanical model for Drosophila larval crawling based on physical measurements

BACKGROUND

Animal locomotion requires dynamic interactions between neural circuits, the body (typically muscles), and surrounding environments. While the neural circuitry of movement has been intensively studied, how these outputs are integrated with body mechanics (neuromechanics) is less clear, in part due to the lack of understanding of the biomechanical properties of animal bodies. Here, we propose an integrated neuromechanical model of movement based on physical measurements by taking Drosophila larvae as a model of soft-bodied animals.

RESULTS

We first characterized the kinematics of forward crawling in Drosophila larvae at a segmental and whole-body level. We then characterized the biomechanical parameters of fly larvae, namely the contraction forces generated by neural activity, and passive elastic and viscosity of the larval body using a stress-relaxation test. We established a mathematical neuromechanical model based on the physical measurements described above, obtaining seven kinematic values characterizing crawling locomotion. By optimizing the parameters in the neural circuit, our neuromechanical model succeeded in quantitatively reproducing the kinematics of larval locomotion that were obtained experimentally. This model could reproduce the observation of optogenetic studies reported previously. The model predicted that peristaltic locomotion could be exhibited in a low-friction condition. Analysis of floating larvae provided results consistent with this prediction. Furthermore, the model predicted a significant contribution of intersegmental connections in the central nervous system, which contrasts with a previous study. This hypothesis allowed us to make a testable prediction for the variability in intersegmental connection in sister species of the genus Drosophila.

CONCLUSIONS

We generated a neurochemical model based on physical measurement to provide a new foundation to study locomotion in soft-bodied animals and soft robot engineering.

The control of nocifensive movements in the caterpillar Manduca sexta

In response to a noxious stimulus on the abdomen, caterpillars lunge their head towards the site of stimulation. This nocifensive 'strike' behavior is fast (∼0.5 s duration), targeted and usually unilateral. It is not clear how the fast strike movement is generated and controlled, because caterpillar muscle develops peak force relatively slowly (∼1 s) and the baseline hemolymph pressure is low (<2 kPa). Here, we show that strike movements are largely driven by ipsilateral muscle activation that propagates from anterior to posterior segments. There is no sustained pre-strike muscle activation that would be expected for movements powered by the rapid release of stored elastic energy. Although muscle activation on the ipsilateral side is correlated with segment shortening, activity on the contralateral side consists of two phases of muscle stimulation and a marked decline between them. This decrease in motor activity precedes rapid expansion of the segment on the contralateral side, presumably allowing the body wall to stretch more easily. The subsequent increase in contralateral motor activation may slow or stabilize movements as the head reaches its target. Strike behavior is therefore a controlled fast movement involving the coordination of muscle activity on each side and along the length of the body.

Caterpillar Climbing: Robust, Tension-Based Omni-Directional Locomotion

Animals that must transition from horizontal to inclined or vertical surfaces typically change their locomotion strategy to compensate for the relative shift in gravitational forces. The species that have been studied have stiff articulated skeletons that allow them to redistribute ground reaction forces (GRFs) to control traction. Most also change their stepping patterns to maintain stability as they climb. In contrast, caterpillars, most of which are highly scansorial, soft-bodied, and lack rigid support or joints, can move with the same general kinematics in all orientations. In this study, we measure the GRFs exerted by the abdominal prolegs of Manduca sexta (Linnaeus) during locomotion. We show that, despite the orthogonal shift in gravitational forces, caterpillars use the same tension-based environmental skeleton strategy to crawl horizontally and to climb vertically. Furthermore, the transition from horizontal to vertical surfaces does not seem to require a change in gait; instead gravitational loading is used to help maintain a stance-phase body tension against which the muscles can pull the body upwards.

Dynamical analysis and development of a biologically inspired SMA caterpillar robot

With the goal of robustly designing and fabricating a soft robot based on a caterpillar featuring shape memory alloy (SMA) actuators, analytical and numerical models for a soft robot were created based on the forward crawling motion of the Manduca sexta caterpillar. The analytical model features a rod theory and the mechanics of undulation were analyzed using a motion pattern based on the 'Witch of Agnesi' curve. Complementing these models, experiments on a SMA actuator sample were performed in order to determine its flexural rigidity and curvature as a function of the actuation voltage. A series of these actuators can be modeled as a system of rigid bodies connected by torsional springs. As these bodies are actuated according to the motion pattern based on the individual caterpillar segments, ground contact forces are calculated and analyzed to determine the requirements of successful forward locomotion. The energetics of the analytical and numerical models are then compared and discussed.

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300-800 ms by compressing their body 40-60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s(-1), despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion--"body-friction legged crawling" with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces.

A proprioceptive neuromechanical theory of crawling

The locomotion of many soft-bodied animals is driven by the propagation of rhythmic waves of contraction and extension along the body. These waves are classically attributed to globally synchronized periodic patterns in the nervous system embodied in a central pattern generator (CPG). However, in many primitive organisms such as earthworms and insect larvae, the evidence for a CPG is weak, or even non-existent. We propose a neuromechanical model for rhythmically coordinated crawling that obviates the need for a CPG, by locally coupling the local neuro-muscular dynamics in the body to the mechanics of the body as it interacts frictionally with the substrate. We analyse our model using a combination of analytical and numerical methods to determine the parameter regimes where coordinated crawling is possible and compare our results with experimental data. Our theory naturally suggests mechanisms for how these movements might arise in developing organisms and how they are maintained in adults, and also suggests a robust design principle for engineered motility in soft systems.

Bone-free: soft mechanics for adaptive locomotion

Muscular hydrostats (such as mollusks), and fluid-filled animals (such as annelids), can exploit their constant-volume tissues to transfer forces and displacements in predictable ways, much as articulated animals use hinges and levers. Although larval insects contain pressurized fluids, they also have internal air tubes that are compressible and, as a result, they have more uncontrolled degrees of freedom. Therefore, the mechanisms by which larval insects control their movements are expected to reveal useful strategies for designing soft biomimetic robots. Using caterpillars as a tractable model system, it is now possible to identify the biomechanical and neural strategies for controlling movements in such highly deformable animals. For example, the tobacco hornworm, Manduca sexta, can stiffen its body by increasing muscular tension (and therefore body pressure) but the internal cavity (hemocoel) is not iso-barometric, nor is pressure used to directly control the movements of its limbs. Instead, fluid and tissues flow within the hemocoel and the body is soft and flexible to conform to the substrate. Even the gut contributes to the biomechanics of locomotion; it is decoupled from the movements of the body wall and slides forward within the body cavity at the start of each step. During crawling the body is kept in tension for part of the stride and compressive forces are exerted on the substrate along the axis of the caterpillar, thereby using the environment as a skeleton. The timing of muscular activity suggests that crawling is coordinated by proleg-retractor motoneurons and that the large segmental muscles produce anterograde waves of lifting that do not require precise timing. This strategy produces a robust form of locomotion in which the kinematics changes little with orientation. In different species of caterpillar, the presence of prolegs on particular body segments is related to alternative kinematics such as "inching." This suggests a mechanism for the evolution of different gaits through changes in the usage of prolegs, rather than, through extensive alterations in the motor program controlling the body wall. Some of these findings are being used to design and test novel control-strategies for highly deformable robots. These "softworm" devices are providing new insights into the challenges faced by any soft animal navigating in a terrestrial environment.

Mutation of a cuticular protein, BmorCPR2, alters larval body shape and adaptability in silkworm, Bombyx mori

Cuticular proteins (CPs) are crucial components of the insect cuticle. Although numerous genes encoding cuticular proteins have been identified in known insect genomes to date, their functions in maintaining insect body shape and adaptability remain largely unknown. In the current study, positional cloning led to the identification of a gene encoding an RR1-type cuticular protein, BmorCPR2, highly expressed in larval chitin-rich tissues and at the mulberry leaf-eating stages, which is responsible for the silkworm stony mutant. In the Dazao-stony strain, the BmorCPR2 allele is a deletion mutation with significantly lower expression, compared to the wild-type Dazao strain. Dysfunctional BmorCPR2 in the stony mutant lost chitin binding ability, leading to reduced chitin content in larval cuticle, limitation of cuticle extension, abatement of cuticle tensile properties, and aberrant ratio between internodes and intersegmental folds. These variations induce a significant decrease in cuticle capacity to hold the growing internal organs in the larval development process, resulting in whole-body stiffness, tightness, and hardness, bulging intersegmental folds, and serious defects in larval adaptability. To our knowledge, this is the first study to report the corresponding phenotype of stony in insects caused by mutation of RR1-type cuticular protein. Our findings collectively shed light on the specific role of cuticular proteins in maintaining normal larval body shape and will aid in the development of pest control strategies for the management of Lepidoptera.

The exoskeletal structure and tensile loading behavior of an ant neck joint

Insects have evolved mechanical form and function over millions of years. Ants, in particular, can lift and carry heavy loads relative to their body mass. Loads are lifted with the mouthparts, transferred through the neck joint to the thorax, and distributed over six legs and tarsi (feet) that anchor to the supporting surface. While previous research has explored attachment mechanisms of the tarsi, little is known about the relation between the mechanical function and the structural design and material properties of the ant. This study focuses on the neck--the single joint that withstands the full load capacity. We combine mechanical testing, computed tomography (CT), scanning electron microscopy (SEM), and computational modeling to better understand the mechanical structure-function relation of the neck joint of the ant species Formica exsectoides (Allegheny mound ant). Our mechanical testing results show that the soft tissue forming the neck joint of F. exsectoides exhibits an elastic modulus of 230±140 MPa and can withstand ~5000 times the ant's weight. We developed a 3-dimensional (3D) model of the structural components of the neck joint for simulation of mechanical behavior. Finite element (FE) simulations reveal the neck-to-head transition where the soft membrane material meets the hard exoskeleton as the critical point for failure of the neck joint, which is consistent with our experiments. Our results further indicate that the neck joint structure exhibits anisotropic mechanical behavior with the highest stiffness occurring when the load path is aligned with the axis of the neck.

Biomechanics of the stick insect antenna: damping properties and structural correlates of the cuticle

The antenna of the Indian stick insect Carausius morosus is a highly specialized near-range sensory probe used to actively sample tactile cues about location, distance or shape of external objects in real time. The length of the antenna's flagellum is 100 times the diameter at the base, making it a very delicate and slender structure. Like the rest of the insect body, it is covered by a protective exoskeletal cuticle, making it stiff enough to allow controlled, active, exploratory movements and hard enough to resist damage and wear. At the same time, it is highly flexible in response to contact forces, and returns rapidly to its straight posture without oscillations upon release of contact force. Which mechanical adaptations allow stick insects to unfold the remarkable combination of maintaining a sufficiently invariant shape between contacts and being sufficiently compliant during contact? What role does the cuticle play? Our results show that, based on morphological differences, the flagellum can be divided into three zones, consisting of a tapered cone of stiff exocuticle lined by an inner wedge of compliant endocuticle. This inner wedge is thick at the antenna's base and thin at its distal half. The decay time constant after deflection, a measure that indicates strength of damping, is much longer at the base (τ>25 ms) than in the distal half (τ<18 ms) of the flagellum. Upon experimental desiccation, reducing mass and compliance of the endocuticle, the flagellum becomes under-damped. Analysing the frequency components indicates that the flagellum can be abstracted with the model of a double pendulum with springs and dampers in both joints. We conclude that in the stick-insect antenna the cuticle properties described are structural correlates of damping, allowing for a straight posture in the instant of a new contact event, combined with a maximum of flexibility.

Water as a major modulator of the mechanical properties of insect cuticle

The mechanical properties of the sternal cuticle of the locust were investigated by nanoindentation. Modulus and hardness of the exo-, meso-, and endocuticular layers were locally measured under dry and fully wetted conditions in the normal (i.e. perpendicular to the outer surface) as well as in the transverse direction (i.e. parallel to the alignment of the respective layers). The results show that water has a major impact on the mechanical properties of all layers. After drying the endocuticle, in particular, became harder by a factor of up to 9 and stiffer by a factor of up to 7.4. Additionally the gradual decrease in hardness and Young's modulus from the outer exo- to the inner endocuticle, characteristic of native cuticle, was eliminated or even reversed in dried cuticle. A pronounced anisotropy was revealed in all layers when comparing data obtained by probing in the normal (lower values) vs. probing in the transverse direction (higher values). Cyclic drying and rewetting of the endocuticle showed that the mechanical properties can be reproducibly changed by altering the water content. Based on our results we propose a new role of the epicuticle: fine-tuning of the mechanical properties of the different cuticular layers can be accomplished by setting the local cuticular transpiration.

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Caterpillars can increase their body mass 10,000-fold in 2 weeks. It is therefore remarkable that most caterpillars appear to maintain the same locomotion kinematics throughout their entire larval stage. This study examined how the body properties of a caterpillar might change to accommodate such dramatic changes in body load. Using Manduca sexta as a model system, we measured changes in body volume, tissue density and baseline body pressure, and the dimensions of load-bearing tissues (the cuticle and muscles) over a body mass range from milligrams to several grams. All Manduca biometrics relevant to the hydrostatic skeleton scaled allometrically but close to the isometric predictions. Body density and pressure were almost constant. We next investigated the effects of scaling on the bending stiffness of the caterpillar hydrostatic skeleton. The anisotropic non-linear mechanical response of Manduca muscles and soft cuticle has previously been quantified and modeled with constitutive equations. Using biometric data and these material laws, we constructed finite element models to simulate a hydrostatic skeleton under different conditions. The results show that increasing the internal pressure leads to a non-linear increase in bending stiffness. Increasing the body size results in a decrease in the normalized bending stiffness. Muscle activation can double this stiffness in the physiological pressure range, but thickening the cuticle or increasing the muscle area reduces the structural stiffness. These non-linear effects may dictate the effectiveness of a hydrostatic skeleton at different sizes. Given the shared anatomy and size variation in Lepidoptera larvae, these mechanical scaling constraints may implicate the diverse locomotion strategies in different species.

Modeling locomotion of a soft-bodied arthropod using inverse dynamics

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.

Female ixodid ticks grow endocuticle during the rapid phase of engorgement

Lees (Proc Zool Soc Lond 121:759-772, 1952) concluded that the ixodid tick Ixodes ricinus grows endocuticle during the slow but not during the rapid, phase of engorgement, a conclusion supported by Andersen and Roepstorff (Insect Biochem Mol Biol 35:1181-1188, 2005) for the same species. In this study analysis of dimensional data and cuticle weight measurements from female ixodid ticks (Amblyomma hebraeum) were used to test this hypothesis. Both approaches showed that endocuticle growth continues during the rapid phase, tapering to zero at a fed/unfed weight ratio of ~60. Of the total mass of cuticle in the engorged tick 32-43% was formed during the rapid phase. We demonstrate that if cuticle growth stopped at the end of the slow phase, there would not be sufficient cuticle to account for the thickness of cuticle observed at the end of engorgement. This finding is consistent with prior studies of Rhipicephalus (Boophilus) microplus, and with a dimensional analysis of the cuticle thickness data of Lees for I. ricinus, in contradiction to his conclusion from an analysis of tick cuticle weight measurements. An examination of cuticle weight measurements for I. ricinus by Andersen and Roepstorff similarly supports the finding of cuticle growth during the rapid phase. All ixodid ticks undergo major body expansion, typically tenfold or more, during a rapid phase of engorgement and require sufficient cuticle at the end of that process to contain their body. The fact that cuticle grows during the rapid phase of engorgement in three species suggests that this is a general characteristic of the family Ixodidae.

Simple shearing of soft biological tissues

Shearing is induced in soft tissues in numerous physiological settings. The limited experimental data available suggest that a severe strain-stiffening effect occurs in the shear stress when soft biological tissues are subjected to simple shear in certain directions. This occurs at relatively small amounts of shear (when compared with the simple shear of rubbers). This effect is modelled within the framework of nonlinear elasticity by consideration of a class of incompressible anisotropic materials. Owing to the large stresses generated for relatively small amounts of shear, particular care must be exercised in order to maintain a homogeneous deformation state in the bulk of the specimen. The results obtained are relevant to the development of accurate shear test protocols for the determination of constitutive properties of soft tissues. It is also demonstrated that there is a fundamental ambiguity in determining the normal stresses in simple shear when soft tissues are modelled as incompressible hyperelastic materials owing to the arbitrary nature of the hydrostatic pressure term. Two physically well-motivated approaches to determining the pressure are presented here, and the resulting hydrostatic stresses are compared and contrasted. The possible generation of cavitational damage owing to critical hydrostatic stress levels is briefly discussed.

Hysteresis in the production of force by larval Dipteran muscle

We describe neuromuscular hysteresis – the dependence of muscle force on recent motoneuron activity – in the body wall muscles of larval Sarcophaga bullata and Drosophila melanogaster. In semi-intact preparations, isometric force produced by a train of nerve impulses at a constant rate was significantly less than that produced by the same train of stimuli with a brief (200 ms) high-frequency burst of impulses interspersed. Elevated force did not decay back to predicted values after the burst but instead remained high throughout the duration of the stimulus train. The increased force was not due to a change in excitatory junction potentials (EJPs); EJP voltage and time course before and after the high-frequency burst were not statistically different. Single muscle and semi-intact preparations exhibited hysteresis similarly, suggesting that connective tissues of the origin or insertion are not crucial to the mechanism of hysteresis. Hysteresis was greatest at low motoneuron rates – yielding a ~100% increase over predicted values based on constant-rate stimulation alone – and decreased as impulse rate increased. We modulated motoneuron frequency rhythmically across rates and cycle periods similar to those observed during kinematic analysis of larval crawling. Positive force hysteresis was also evident within these more physiological activation parameters.

A model for the stretch-mediated enzymatic degradation of silk fibers

To restore physiological function through regenerative medicine, biomaterials introduced into the body must degrade at a rate that matches new tissue formation. For effective therapies, it is essential that we understand the interaction between physiological factors, such as routine mechanical loading specific to sites of implantation, and the resultant rate of material degradation. These relationships are poorly characterized at this time. We hypothesize that mechanical forces alter the rates of remodeling of biomaterials, and this impact is modulated by the concentration of enzymes and the duration of the mechanical loads encountered in situ. To test this hypothesis we subjected silk fibroin fibers to repeated cyclic loading in the presence of enzymatic degradation (either alpha-chymotrypsin or Protease XIV) and recorded the stress-strain response. Data were collected daily for a duration of 2 weeks and compared to the control cases of stretched fibers in the presence of phosphate buffered saline or non-stretched samples in the presence of enzyme alone. We observed that incubation with proteases in the absence of mechanical loads causes a reduction of the ultimate tensile strength but no change in stiffness. However, cyclic loading caused the accumulation of residual strain and softening in the material's properties. We utilize these data to formulate a mathematical model to account for residual strain and reduction of mechanical properties during silk fiber degradation. Numerical predictions are in fair agreement with experimental data. The improved understanding of the degradation phenomenon will be significant in many clinical repair cases and may be synergistic to decrease silk's mechanical properties after in vivo implantation.

Motor patterns associated with crawling in a soft-bodied arthropod

Soft-bodied animals lack distinct joints and levers, and so their locomotion is expected to be controlled differently from that of animals with stiff skeletons. Some invertebrates, such as the annelids, use functionally antagonistic muscles (circumferential and longitudinal) acting on constant-volume hydrostatics to produce extension and contraction. These processes form the basis for most theoretical considerations of hydrostatic locomotion in organisms including larval insects. However, caterpillars do not move in this way, and their powerful appendages provide grip independent of their dimensional changes. Here, we show that the anterograde wave of movement seen in the crawling tobacco hornworm, Manduca sexta, is mediated by co-activation of dorsal and ventral muscles within a body segment, rather than by antiphasic activation, as previously believed. Furthermore, two or three abdominal segments are in swing phase simultaneously, and the activities of motor neurons controlling major longitudinal muscles overlap in more than four segments. Recordings of muscle activity during natural crawling show that some are activated during both their shortening and elongation. These results do not support the typical peristaltic model of crawling, but they do support a tension-based model of crawling, in which the substrate is utilized as an anchor to generate propulsion.

The substrate as a skeleton: ground reaction forces from a soft-bodied legged animal

The measurement of forces generated during locomotion is essential for the development of accurate mechanical models of animal movements. However, animals that lack a stiff skeleton tend to dissipate locomotor forces in large tissue deformation and most have complex or poorly defined substrate contacts. Under these conditions, measuring propulsive and supportive forces is very difficult. One group that is an exception to this problem is lepidopteran larvae which, despite lacking a rigid skeleton, have well-developed limbs (the prolegs) that can be used for climbing in complex branched structures and on a variety of surfaces. Caterpillars therefore are excellent for examining the relationship between soft body deformation and substrate reaction forces during locomotion. In this study, we devised a method to measure the ground reaction forces (GRFs) at multiple contact points during crawling by the tobacco hornworm (Manduca sexta). Most abdominal prolegs bear similar body weight during their stance phase. Interestingly, forward reaction forces did not come from pushing off the substrate. Instead, most positive reaction forces came from anterior abdominal prolegs loaded in tension while posterior legs produced drag in most instances. The counteracting GRFs effectively stretch the animal axially during the second stage of a crawl cycle. These findings help in understanding how a terrestrial soft-bodied animal can interact with its substrate to control deformation without hydraulic actuation. The results also provide insights into the behavioral and mechanistic constraints leading to the evolution of diverse proleg arrangements in different species of caterpillar.

Evaluating patient-specific abdominal aortic aneurysm wall stress based on flow-induced loading

In this paper, we develop a physiologic wall stress analysis procedure by incorporating experimentally measured, non-uniform pressure loading in a patient-based finite element simulation. First, the distribution of wall pressure is measured in a patient-based lumen cast at a series of physiologically relevant steady flow rates. Then, using published equi-biaxial stress-deformation data from aneurysmal tissue samples, a nonlinear hyperelastic constitutive equation is used to describe the mechanical behavior of the aneurysm wall. The model accounts of the characteristic exponential stiffening due to the rapid engagement of nearly inextensible collagen fibers and assumes, as a first approximation, an isotropic behavior of the arterial wall. The results show a complex wall stress distribution with a localized maximum principal stress value of 660 kPa on the inner surface of the posterior surface of the aneurysm bulge, a considerably larger value than has generally been reported in calculations of wall stress under the assumption of uniform loading. This is potentially significant since the posterior wall has been suggested as a common site of rupture, and the aneurysmal tensile strength reported by other authors is of the same order of magnitude as the maximum stress value found here.