Neuromuscular control of free-flight yaw turns in the hawkmoth Manduca sexta

Flight power muscles have a coordinated, causal role in controlling hawkmoth pitch turns

Flying insects solve a daunting control problem of generating a patterned and precise motor program to stay airborne and generate agile maneuvers. In this motor program, each muscle encodes information about movement in precise spike timing down to the millisecond scale. Whereas individual muscles share information about movement, we do not know whether they have separable effects on an animal's motion, or whether muscles functionally interact such that the effects of any muscle's timing depend heavily on the state of the entire musculature. To answer these questions, we performed spike-resolution electromyography and electrical stimulation in the hawkmoth Manduca sexta during tethered flapping. We specifically explored how flight power muscles contribute to pitch control. Combining correlational study of visually induced turns with causal manipulation of spike timing, we discovered likely coordination patterns for pitch turns, and investigated whether these patterns can drive pitch control. We observed significant timing change of the main downstroke muscles, the dorsolongitudinal muscles (DLMs), associated with pitch turns. Causally inducing this timing change in the DLMs with electrical stimulation produced a consistent, mechanically relevant feature in pitch torque, establishing that power muscles in M. sexta have a control role in pitch. Because changes were evoked in only the DLMs, however, these pitch torque features left large unexplained variation. We found this unexplained variation indicates significant functional overlap in pitch control such that precise timing of one power muscle does not produce a precise turn, demonstrating the importance of coordination across the entire motor program for flight.

Intraspecific Variation in the Placement of Campaniform Sensilla on the Wings of the Hawkmoth Manduca Sexta

Flight control requires active sensory feedback, and insects have many sensors that help them estimate their current locomotor state, including campaniform sensilla (CS), which are mechanoreceptors that sense strain resulting from deformation of the cuticle. CS on the wing detect bending and torsional forces encountered during flight, providing input to the flight feedback control system. During flight, wings experience complex spatio-temporal strain patterns. Because CS detect only local strain, their placement on the wing is presumably critical for determining the overall representation of wing deformation; however, how these sensilla are distributed across wings is largely unknown. Here, we test the hypothesis that CS are found in stereotyped locations across individuals of Manduca sexta, a hawkmoth. We found that although CS are consistently found on the same veins or in the same regions of the wings, their total number and distribution can vary extensively. This suggests that there is some robustness to variation in sensory feedback in the insect flight control system. The regions where CS are consistently found provide clues to their functional roles, although some patterns might be reflective of developmental processes. Collectively, our results on intraspecific variation in CS placement on insect wings will help reshape our thinking on the utility of mechanosensory feedback for insect flight control and guide further experimental and comparative studies.

A Cyborg Insect Reveals a Function of a Muscle in Free Flight

While engineers put lots of effort, resources, and time in building insect scale micro aerial vehicles (MAVs) that fly like insects, insects themselves are the real masters of flight. What if we would use living insect as platform for MAV instead? Here, we reported a flight control via electrical stimulation of a flight muscle of an insect-computer hybrid robot, which is the interface of a mountable wireless backpack controller and a living beetle. The beetle uses indirect flight muscles to drive wing flapping and three major direct flight muscles (basalar, subalar, and third axilliary (3Ax) muscles) to control the kinematics of the wings for flight maneuver. While turning control was already achieved by stimulating basalar and 3Ax muscles, electrical stimulation of subalar muscles resulted in braking and elevation control in flight. We also demonstrated around 20 degrees of contralateral yaw and roll by stimulating individual subalar muscle. Stimulating both subalar muscles lead to an increase of 20 degrees in pitch and decelerate the flight by 1.5 m/s² as well as an induce in elevation of 2 m/s².

Precise timing is ubiquitous, consistent, and coordinated across a comprehensive, spike-resolved flight motor program

Sequences of action potentials, or spikes, carry information in the number of spikes and their timing. Spike timing codes are critical in many sensory systems, but there is now growing evidence that millisecond-scale changes in timing also carry information in motor brain regions, descending decision-making circuits, and individual motor units. Across all of the many signals that control a behavior, how ubiquitous, consistent, and coordinated are spike timing codes? Assessing these open questions ideally involves recording across the whole motor program with spike-level resolution. To do this, we took advantage of the relatively few motor units controlling the wings of a hawk moth, Manduca sexta. We simultaneously recorded nearly every action potential from all major wing muscles and the resulting forces in tethered flight. We found that timing encodes more information about turning behavior than spike count in every motor unit, even though there is sufficient variation in count alone. Flight muscles vary broadly in function as well as in the number and timing of spikes. Nonetheless, each muscle with multiple spikes consistently blends spike timing and count information in a 3:1 ratio. Coding strategies are consistent. Finally, we assess the coordination of muscles using pairwise redundancy measured through interaction information. Surprisingly, not only are all muscle pairs coordinated, but all coordination is accomplished almost exclusively through spike timing, not spike count. Spike timing codes are ubiquitous, consistent, and essential for coordination.

Asymmetry costs: effects of wing damage on hovering flight performance in the hawkmoth Manduca sexta

Flight performance is fundamental to the fitness of flying organisms. Whilst airborne, flying organisms face unavoidable wing wear and wing area loss. Many studies have tried to quantify the consequences of wing area loss to flight performance with varied results, suggesting that not all types of damage are equal and different species may have different means to compensate for some forms of wing damage with little to no cost. Here, we investigated the cost of control during hovering flight with damaged wings, specifically wings with asymmetric and symmetric reductions in area, by measuring maximum load lifting capacity and the metabolic power of hovering flight in hawkmoths (Manduca sexta). We found that while asymmetric and symmetric reductions are both costly in terms of maximum load lifting and hovering efficiency, asymmetric reductions are approximately twice as costly in terms of wing area lost. The moths also did not modulate flapping frequency and amplitude as predicted by a hovering flight model, suggesting that the ability to do so, possibly tied to asynchronous versus synchronous flight muscles, underlies the varied responses found in different wing clipping experiments.

Neural control and precision of flight muscle activation in Drosophila

Precision of motor commands is highly relevant in a large context of various locomotor behaviors, including stabilization of body posture, heading control and directed escape responses. While posture stability and heading control in walking and swimming animals benefit from high friction via ground reaction forces and elevated viscosity of water, respectively, flying animals have to cope with comparatively little aerodynamic friction on body and wings. Although low frictional damping in flight is the key to the extraordinary aerial performance and agility of flying birds, bats and insects, it challenges these animals with extraordinary demands on sensory integration and motor precision. Our review focuses on the dynamic precision with which Drosophila activates its flight muscular system during maneuvering flight, considering relevant studies on neural and muscular mechanisms of thoracic propulsion. In particular, we tackle the precision with which flies adjust power output of asynchronous power muscles and synchronous flight control muscles by monitoring muscle calcium and spike timing within the stroke cycle. A substantial proportion of the review is engaged in the significance of visual and proprioceptive feedback loops for wing motion control including sensory integration at the cellular level. We highlight that sensory feedback is the basis for precise heading control and body stability in flies.

Flight motor modulation with speed in the hawkmoth Manduca sexta

The theoretical underpinnings for flight, including animal flight with flapping wings, predict a curvilinear U-shaped or J-shaped relationship between flight speed and the power required to maintain that speed. Experimental data have confirmed this relationship for a variety of bird and bat species but not insects, possibly due to differences in aerodynamics and physiology or experimental difficulties. Here we quantify modulation of the main flight motor muscles (the dorsolongitudinal and dorsoventral) via electromyography in hawkmoths (Manduca sexta) flying freely over a range of speeds in a wind tunnel and show that these insects exhibit a U-shaped speed-power relationship, with a minimum power speed of 2ms^-1, indicating that at least large flying insects achieve sufficiently high flight speeds that drag and power become limiting factors.

A novel method for full locomotion compensation of an untethered walking insect

In this study, we developed a novel unfixed-type experimental system that we call a '3-DOF servosphere.' This system comprises one sphere and three omniwheels that support the sphere. The measurement method is very simple. An experimental animal is placed on top of the sphere. The position and heading angle of the animal are observed by using a high-speed camera installed above the sphere. Because the system can rotate the sphere with three degrees of freedom (DOFs) independently, the position and heading angle at the origin can be maintained without fixing the body. This system can be used to measure an animal's natural behavior while simultaneously providing it with precise stimuli. Moreover, electrodes can be inserted at specific sites to measure biosignals with locomotion. Therefore, this system can simultaneously measure the stimulus input-internal state-locomotion output of an animal. In this study, we focused on the chemical plume tracing (CPT) behavior of the Bombyx mori male silkworm moth in order to identify its CPT algorithm for mounting on a robot. In an experiment, we simultaneously measured the stimulus input, flight muscle electromyogram (EMG), and CPT behavior by using the 3-DOF servosphere to verify the system. We elucidated the relationship between the CPT behavior and flight muscle EMG.

Flight mechanics and control of escape manoeuvres in hummingbirds II. Aerodynamic force production, flight control and performance limitations

The superior manoeuvrability of hummingbirds emerges from complex interactions of specialized neural and physiological processes with the unique flight dynamics of flapping wings. Escape manoeuvring is an ecologically relevant, natural behaviour of hummingbirds, from which we can gain understanding into the functional limits of vertebrate locomotor capacity. Here, we extend our kinematic analysis of escape manoeuvres from a companion paper to assess two potential limiting factors of manoeuvring performance of hummingbirds 1) muscle mechanical power output and 2) delays in the neural sensing and control system. We focused on the magnificent hummingbird, (Eugenes fulgens, 7.8g) and black-chinned hummingbird (Archilochus alexandri, 3.1 g), which represent large and small species, respectively. We first estimated the aerodynamic forces, moments and the mechanical power of escape manoeuvres using measured wing kinematics. Comparing active-manoeuvring and passive-damping aerodynamic moments, we found that pitch dynamics were lightly damped and dominated by effect of inertia while roll dynamics were highly damped. To achieve observed closed-loop performance, pitch manoeuvres required faster sensorimotor transduction, as hummingbirds can only tolerate half the delay allowed in roll manoeuvres. Accordingly, our results suggested that pitch control may require a more sophisticated control strategy, such as those based on prediction. For the magnificent hummingbird, we estimated escape manoeuvres required muscle mass-specific power 4.5 times that during hovering. Therefore, in addition to the limitation imposed by sensorimotor delays, muscle power could also limit the performance of escape manoeuvres.

Recent developments in the study of insect flight

Here we review recent contributions to the study of insect flight, in particular those brought about by advances in experimental techniques. We focus particularly on the following areas: wing flexibility and deformation, the physiology and biophysics of asynchronous insect flight muscle, the aerodynamics of flight, and stability and maneuverability. This recent research reveals the importance of wing flexibility to insect flight, provides a detailed model of how asynchronous flight muscle functions and how it may have evolved, synthesizes many recent studies of insect flight aerodynamics into a broad-reaching summary of unsteady flight aerodynamics, and highlights new insights into the sources of flight stability in insects. The focus on experimental techniques and recently developed apparatus shows how these advancements have occurred and point the way towards future experiments.

Dual dimensionality reduction reveals independent encoding of motor features in a muscle synergy for insect flight control

What are the features of movement encoded by changing motor commands? Do motor commands encode movement independently or can they be represented in a reduced set of signals (i.e. synergies)? Motor encoding poses a computational and practical challenge because many muscles typically drive movement, and simultaneous electrophysiology recordings of all motor commands are typically not available. Moreover, during a single locomotor period (a stride or wingstroke) the variation in movement may have high dimensionality, even if only a few discrete signals activate the muscles. Here, we apply the method of partial least squares (PLS) to extract the encoded features of movement based on the cross-covariance of motor signals and movement. PLS simultaneously decomposes both datasets and identifies only the variation in movement that relates to the specific muscles of interest. We use this approach to explore how the main downstroke flight muscles of an insect, the hawkmoth Manduca sexta, encode torque during yaw turns. We simultaneously record muscle activity and turning torque in tethered flying moths experiencing wide-field visual stimuli. We ask whether this pair of muscles acts as a muscle synergy (a single linear combination of activity) consistent with their hypothesized function of producing a left-right power differential. Alternatively, each muscle might individually encode variation in movement. We show that PLS feature analysis produces an efficient reduction of dimensionality in torque variation within a wingstroke. At first, the two muscles appear to behave as a synergy when we consider only their wingstroke-averaged torque. However, when we consider the PLS features, the muscles reveal independent encoding of torque. Using these features we can predictably reconstruct the variation in torque corresponding to changes in muscle activation. PLS-based feature analysis provides a general two-sided dimensionality reduction that reveals encoding in high dimensional sensory or motor transformations.

Understanding movement control is challenging because the brains of nearly all animals send motor command signals to many muscles, and these signals produce complex movements. In studying animal movement, one cannot always record all the motor commands an animal uses or know all the ways in which movement varies in response. A combined approach is necessary to find the relevant patterns: the changes in movement that correspond to changes in the recorded motor commands. Techniques exist to identify simple patterns in either the motor commands or the movements, but in this paper we develop an approach that identifies patterns in both simultaneously. We use this technique to understand how agile flying insects control aerial turns. The two main downstroke muscles of moths are thought to produce turns by creating a power difference between the left and right wings. The moth’s brain may only need to specify the difference in activation between the two muscles. We discover that moth’s brain actually has independent control over each muscle, and this separate control increases the moth’s ability to adjust turning within a single wingstroke. Our computational approach reveals sophisticated patterns of movement processing even in the small nervous systems of insects.

Independently controlled wing stroke patterns in the fruit fly Drosophila melanogaster

Flies achieve supreme flight maneuverability through a small set of miniscule steering muscles attached to the wing base. The fast flight maneuvers arise from precisely timed activation of the steering muscles and the resulting subtle modulation of the wing stroke. In addition, slower modulation of wing kinematics arises from changes in the activity of indirect flight muscles in the thorax. We investigated if these modulations can be described as a superposition of a limited number of elementary deformations of the wing stroke that are under independent physiological control. Using a high-speed computer vision system, we recorded the wing motion of tethered flying fruit flies for up to 12 000 consecutive wing strokes at a sampling rate of 6250 Hz. We then decomposed the joint motion pattern of both wings into components that had the minimal mutual information (a measure of statistical dependence). In 100 flight segments measured from 10 individual flies, we identified 7 distinct types of frequently occurring least-dependent components, each defining a kinematic pattern (a specific deformation of the wing stroke and the sequence of its activation from cycle to cycle). Two of these stroke deformations can be associated with the control of yaw torque and total flight force, respectively. A third deformation involves a change in the downstroke-to-upstroke duration ratio, which is expected to alter the pitch torque. A fourth kinematic pattern consists in the alteration of stroke amplitude with a period of 2 wingbeat cycles, extending for dozens of cycles. Our analysis indicates that these four elementary kinematic patterns can be activated mutually independently, and occur both in isolation and in linear superposition. The results strengthen the available evidence for independent control of yaw torque, pitch torque, and total flight force. Our computational method facilitates systematic identification of novel patterns in large kinematic datasets.

A wearable wireless platform for visually stimulating small flying insects

Linking neurons and muscles to their roles in behavior requires not only the ability to measure their response during unrestrained movement but also the ability to stimulate them and observe the behavioral results. Current wireless stimulation technologies can be carried by rodent-sized animals and very large insects. However, the mass and volume of these devices make them impractical for studying smaller animals like insects. Here we present a battery-powered electronics platform suitable to be carried on a flying locust (2.7 g). The device has an IR-based (infrared) receiver, can deliver optical or electrical stimulation, occupies a volume of 0.1 cm(3), and weighs ~280 mg. We show the device is capable of powering two white SMD light emitting diodes (LEDs) for ~4 min and can be recharged in ~20 min. We demonstrate that our system shows no crosstalk with an IR-based Vicon tracking system. The entire package is made from commercial off-the-shelf components and requires no microfabrication.

A multibody approach for 6-DOF flight dynamics and stability analysis of the hawkmoth Manduca sexta

This paper investigates the six degrees of freedom (6-DOF) flight dynamics and stability of the hawkmoth Manduca sexta using a multibody dynamics approach that encompasses the effects of the time varying inertia tensor of all the body segments including two wings. The quasi-steady translational and unsteady rotational aerodynamics of the flapping wings are modeled with the blade element theory with aerodynamic coefficients derived from relevant experimental studies. The aerodynamics is given instantaneously at each integration time step without wingbeat-cycle-averaging. With the multibody dynamic model and the aerodynamic model for the hawkmoth, a direct time integration of the fully coupled 6-DOF nonlinear multibody dynamics equations of motion is performed. First, the passive damping magnitude of each single DOF is quantitatively examined with the measure of the time taken to half the initial velocity (thalf). The results show that the sideslip translation is less damped approximately three times than the other two translational DOFs, and the pitch rotation is less damped approximately five times than the other two rotational DOFs; each DOF has the value of (unit in wingbeat strokes): thalf,forward/backward = 7.10, thalf,sideslip = 17.95, thalf,ascending = 7.13, thalf,descending = 5.77, thalf,roll = 0.68, thalf,pitch = 2.39, and thalf,yaw = 0.25. Second, the natural modes of motion, with the hovering flight as a reference equilibrium condition, are examined by analyzing fully coupled 6-DOF dynamic responses induced by multiple sets of force and moment disturbance combinations. The given disturbance combinations are set to excite the dynamic modes identified in relevant eigenmode analysis studies. The 6-DOF dynamic responses obtained from this study are compared with eigenmode analysis results in the relevant studies. The longitudinal modes of motion showed dynamic modal characteristics similar to the eigenmode analysis results from the relevant literature. However, the lateral modes of motion revealed more complex behavior, which is mainly due to the coupling effect in the lateral flight states and also between the lateral and longitudinal planes of motion. The main sources of the flight instability of the hovering hawkmoth are examined as either the longitudinal instability grown from the coupled forward/backward velocity and the pitch rate, or the lateral instability grown from the coupled sideslip velocity and the roll rate.

Female pheromones modulate flight muscle activation patterns during preflight warm-up

At low ambient temperature Helicoverpa zea male moths engage in warm-up behavior prior to taking flight in response to an attractive female pheromone blend. Male H. zea warm up at a faster rate when sensing the attractive pheromone blend compared with unattractive blends or blank controls (Crespo et al. 2012), but the mechanisms involved in this olfactory modulation of the heating rate during preflight warm-up are unknown. Here, we test three possible mechanisms for increasing heat production: 1) increased rate of muscle contraction; 2) reduction in mechanical movement by increased overlap in activation of the antagonistic flight muscles; and 3) increased activation of motor units. To test which mechanisms play a role, we simultaneously recorded electrical activation patterns of the main flight muscles (dorsolongitudinal and dorsoventral muscles), wing movement, and thoracic temperature in moths exposed to both the attractive pheromone blend and a blank control. Results indicate that the main mechanism responsible for the observed increase in thoracic heating rate with pheromone stimulation is the differential activation of motor units during each muscle contraction cycle in both antagonistic flight muscles. This additional activation lengthens the contracted state within each cycle and thus accounts for the greater heat production. Interestingly, the rate of activation (frequency of contraction cycles) of motor units, which is temperature dependent, did not vary between treatments. This result suggests that the activation rate is determined by a temperature-dependent oscillator, which is not affected by the olfactory stimulus, but activation of motor units is modulated during each cycle.

Electromagnetic levitation platform for wireless study of insect flight neurophysiology

An electromagnetic levitation platform for use in a light emitting diode (LED) arena based virtual reality environment was developed for wireless recording of neural and neuromuscular signals from the flight related muscle groups in Manduca sexta. The platform incorporates the use of Early Metamorphosis Insertion Technology to implant recording electrodes into the flight muscles of late stage pupal moths. Analysis of the insects' response to changes in the LED arena rotation direction indicate that this setup could be used to perform a variety of flight behavior studies during yaw maneuvers.

Abdicating power for control: a precision timing strategy to modulate function of flight power muscles

Muscles driving rhythmic locomotion typically show strong dependence of power on the timing or phase of activation. This is particularly true in insects' main flight muscles, canonical examples of muscles thought to have a dedicated power function. However, in the moth (Manduca sexta), these muscles normally activate at a phase where the instantaneous slope of the power-phase curve is steep and well below maximum power. We provide four lines of evidence demonstrating that, contrary to the current paradigm, the moth's nervous system establishes significant control authority in these muscles through precise timing modulation: (i) left-right pairs of flight muscles normally fire precisely, within 0.5-0.6 ms of each other; (ii) during a yawing optomotor response, left-right muscle timing differences shift throughout a wider 8 ms timing window, enabling at least a 50 per cent left-right power differential; (iii) timing differences correlate with turning torque; and (iv) the downstroke power muscles alone causally account for 47 per cent of turning torque. To establish (iv), we altered muscle activation during intact behaviour by stimulating individual muscle potentials to impose left-right timing differences. Because many organisms also have muscles operating with high power-phase gains (Δ(power)/Δ(phase)), this motor control strategy may be ubiquitous in locomotor systems.

Wingbeat kinematics and motor control of yaw turns in Anna's hummingbirds (Calypte anna)

The biomechanical and neuromuscular mechanisms used by different animals to generate turns in flight are highly variable. Body size and body plan exert some influence, e.g. birds typically roll their body to orient forces generated by the wings whereas insects are capable of turning via left-right wingbeat asymmetries. Turns are also relatively brief and have low repeatability, with almost every wingbeat serving a different function throughout the change in heading. Here we present an analysis of Anna's hummingbirds (Calypte anna) as they fed continuously from an artificial feeder revolving around the outside of the animal. This setup allowed for examination of sustained changes in yaw without requiring any corresponding changes in pitch, roll or body position. Hummingbirds sustained yaw turns by expanding the wing stroke amplitude of the outer wing during the downstroke and by altering the deviation of the wingtip path during both downstroke and upstroke. The latter led to a shift in the inner-outer stroke plane angle during the upstroke and shifts in the elevation of the stroke plane and in the deviation of the wingtip path during both strokes. These features are generally more similar to how insects, as opposed to birds, turn. However, time series analysis also revealed considerable stroke-to-stroke variation. Changes in the stroke amplitude and the wingtip velocity were highly cross-correlated, as were changes in the stroke deviation and the elevation of the stroke plane. As was the case for wingbeat kinematics, electromyogram recordings from pectoral and wing muscles were highly variable, but no correlations were found between these two features of motor control. The high variability of both kinematic and muscle activation features indicates a high level of wingbeat-to-wingbeat adjustments during sustained yaw. The activation timing of the muscles was more repeatable than the activation intensity, which suggests that the former may be constrained by harmonic motion and that the latter may play a large role in kinematic adjustments. Comparing the revolution frequency of the feeder with measurements of free flight yaws reveals that feeder tracking, even at one revolution every 2 s, is well below the maximum yaw capacity of the hummingbirds.

Abdicating power for control: a precision timing strategy to modulate function of flight power muscles

Muscles driving rhythmic locomotion typically show strong dependence of power on the timing or phase of activation. This is particularly true in insects' main flight muscles, canonical examples of muscles thought to have a dedicated power function. However, in the moth (Manduca sexta), these muscles normally activate at a phase where the instantaneous slope of the power-phase curve is steep and well below maximum power. We provide four lines of evidence demonstrating that, contrary to the current paradigm, the moth's nervous system establishes significant control authority in these muscles through precise timing modulation: (i) left-right pairs of flight muscles normally fire precisely, within 0.5-0.6 ms of each other; (ii) during a yawing optomotor response, left-right muscle timing differences shift throughout a wider 8 ms timing window, enabling at least a 50 per cent left-right power differential; (iii) timing differences correlate with turning torque; and (iv) the downstroke power muscles alone causally account for 47 per cent of turning torque. To establish (iv), we altered muscle activation during intact behaviour by stimulating individual muscle potentials to impose left-right timing differences. Because many organisms also have muscles operating with high power-phase gains (Δ(power)/Δ(phase)), this motor control strategy may be ubiquitous in locomotor systems.

Neuromuscular and biomechanical compensation for wing asymmetry in insect hovering flight

Wing damage is common in flying insects and has been studied using a variety of approaches to assess its biomechanical and fitness consequences. Results of these studies range from strong to nil effect among the variety of species, fitness measurements and damage modes studied, suggesting that not all damage modes are equal and that insects may be well adapted to compensate for some types of damage. Here, we examine the biomechanical and neuromuscular means by which flying insects compensate for asymmetric wing damage, which is expected to produce asymmetric flight forces and torques and thus destabilize the animal in addition to reducing its total wing size. We measured the kinematic and neuromuscular responses of hawkmoths (Manduca sexta) hovering in free flight with asymmetrically damaged wings via high-speed videography and extracellular neuromuscular activity recordings. The animals responded to asymmetric wing damage with asymmetric changes to wing stroke amplitude sufficient to restore symmetry in lift production. These asymmetries in stroke amplitude were significantly correlated with bilateral asymmetries in the timing of activation of the dorsal ventral muscle among and within trials. Correspondingly, the magnitude of wing asymmetry was significantly although non-linearly correlated with the magnitude of the neuromuscular response among individuals. The strongly non-linear nature of the relationship suggests that active neural compensation for asymmetric wing damage may only be necessary above a threshold, >12% asymmetry in wing second moment of area in this case, below which passive mechanisms may be adequate to maintain flight stability.