Power output of scallop adductor muscle during contractions replicating the in vivo mechanical cycle

What good is a measure of muscle length? The how and why of direct measurements of skeletal muscle motion

Over the past 50 years our understanding of the central role that muscle motion has in powering movement has accelerated significantly. Fundamental to this progress has been the development of methods for measuring the length of muscles and muscle fibers in vivo. A measurement of muscle fiber length might seem a trivial piece of information on its own. Yet when combined with knowledge of the properties of skeletal muscle it has proven a powerful tool for understanding the mechanics and energetics of locomotion and informing models of motor control. In this perspective we showcase the value of direct measurements of muscle fiber length from four different techniques: sonomicrometry, fluoromicrometry, magnetomicrometry, and ultrasound. For each method, we review its history and provide a high-level user's guide for researchers choosing tools for measuring muscle length in vivo. We highlight key insights that these measurements have provided, including the importance of passive elastic mechanisms and how skeletal muscle properties govern locomotor performance. The diversity of locomotor behaviors revealed across comparative studies has provided an important tool for discovering the rules for muscle function that span vertebrate locomotion more broadly, including in humans.

One size does not fit all: diversity of length-force properties of obliquely striated muscles

Obliquely striated muscles occur in 17+ phyla, likely evolving repeatedly, yet the implications of oblique striation for muscle function are unknown. Contrary to the belief that oblique striation allows high force output over extraordinary length ranges (i.e. superelongation), recent work suggests diversity in operating length ranges and length-force relationships. We hypothesize oblique striation evolved to increase length-force relationship flexibility. We predict that superelongation is not a general characteristic of obliquely striated muscles and instead that length-force relationships vary with operating length range. To test these predictions, we measured length-force relationships of five obliquely striated muscles from inshore longfin squid, Doryteuthis pealeii: tentacle, funnel retractor and head retractor longitudinal fibers, and arm and fin transverse fibers. Consistent with superelongation, the tentacle length-force relationship had a long descending limb, whereas all others exhibited limited descending limbs. The ascending limb at 0.6P0 was significantly broader (P<0.001) for the tentacle length-force relationship (0.43±0.04L0; where L0 is the preparation length that produced peak isometric stress, P0) than for the arm (0.29±0.03L0), head retractor (0.24±0.06L0), fin (0.20±0.04L0) and funnel retractor (0.27±0.03L0). The fin's narrow ascending limb differed significantly from those of the arm (P=0.004) and funnel retractor (P=0.012). We further characterized the tentacle preparation's maximum isometric stress (315±78 kPa), maximum unloaded shortening velocity (2.97±0.55L0 s-1) and ultrastructural traits (compared with the arm), which may explain its broader length-force relationship. Comparison of obliquely striated muscles across taxa revealed length-force relationship diversity, with only two species exhibiting superelongation.

The mechanical properties of the mantle muscle of European cuttlefish (Sepia officinalis)

The circular muscles surrounding the mantle cavity of European cuttlefish (Sepia officinalis) generate the mechanical power to compress the cavity, forcing a jet of water out of the funnel, propelling the animal during jet propulsion swimming. During ontogeny, jetting frequency decreases in adults compared with juveniles, and this is expected to be reflected in the contractile properties of the locomotory muscles. To develop greater insight into how the locomotion of these animals is powered during ontogeny, we determined the mechanical properties of bundles of muscle fascicles during isometric, isotonic and cyclic length changes in vitro, at two life stages: juveniles and adults. The twitch kinetics were faster in juveniles than in adults (twitch rise time 257 ms compared with 371 ms; half-twitch relaxation 257 ms compared with 677 ms in juveniles and adults, respectively); however, twitch and tetanic stress, the maximum velocity of shortening and curvature of the force-velocity relationship did not differ. Under cyclic conditions, net power exhibited an inverted U-shaped relationship with cycle frequency in both juveniles and adults; the frequency at which maximum net power was achieved was shifted to lower cycle frequencies with increased maturity, which is consistent with the slower contraction and relaxation kinetics in adults compared with juveniles. The cycle frequency at which peak power was achieved during cyclical contractions in vitro was found to match that seen in vivo in juveniles, suggesting power is being maximised during jet propulsion swimming.

Increased wave action promotes muscle performance but increasing temperatures cause a tenacity-endurance trade-off in intertidal snails (Nerita atramentosa)

Concurrent increases in wave action and sea surface temperatures increase the physical impact on intertidal organisms and affect their physiological capacity to respond to that impact. Our aim was to determine whether wave exposure altered muscle function in intertidal snails (Nerita atramentosa) and whether responses to wave action and temperature are plastic, leading to compensation for altered environmental conditions. We show that field snails from exposed shores had greater endurance and vertical tenacity than snails from matched protected shores (n = 5 pairs of shores). There were no differences in muscle metabolic capacities (strombine/lactate dehydrogenase, citrate synthase and cytochrome c oxidase activities) between shore types. Maximum stress (force/foot area) produced by isolated foot muscle did not differ between shore types, but foot muscle from snails on exposed shores had greater endurance. A laboratory experiment showed that vertical tenacity was greater in animals acclimated for 3 weeks to cool winter temperatures (15 C) compared to summer temperatures (25 C), but endurance was greater in snails acclimated to 25°C. Acclimation to water flow that mimicked wave action in the field increased vertical tenacity but decreased endurance. Our data show that increased wave action elicits a training effect on muscle, but that increasing sea surface temperature can cause a trade-off between tenacity and endurance. Ocean warming would negate the beneficial increase in tenacity that could render snails more resistant to acute impacts of wave action, while promoting longer term resistance to dislodgment by waves.

The length-force behavior and operating length range of squid muscle vary as a function of position in the mantle wall

Hollow cylindrical muscular organs are widespread in animals and are effective in providing support for locomotion and movement, yet are subject to significant non-uniformities in circumferential muscle strain. During contraction of the mantle of squid, the circular muscle fibers along the inner (lumen) surface of the mantle experience circumferential strains 1.3 to 1.6 times greater than fibers along the outer surface of the mantle. This transmural gradient of strain may require the circular muscle fibers near the inner and outer surfaces of the mantle to operate in different regions of the length-tension curve during a given mantle contraction cycle. We tested the hypothesis that circular muscle contractile properties vary transmurally in the mantle of the Atlantic longfin squid, Doryteuthis pealeii. We found that both the length-twitch force and length-tetanic force relationships of the obliquely striated, central mitochondria-poor (CMP) circular muscle fibers varied with radial position in the mantle wall. CMP circular fibers near the inner surface of the mantle produced higher force relative to maximum isometric tetanic force, P0, at all points along the ascending limb of the length-tension curve than CMP circular fibers near the outer surface of the mantle. The mean ± s.d. maximum isometric tetanic stresses at L₀ (the preparation length that produced the maximum isometric tetanic force) of 212 ± 105 and 290 ± 166 kN m(-2) for the fibers from the outer and inner surfaces of the mantle, respectively, did not differ significantly (P=0.29). The mean twitch:tetanus ratios for the outer and inner preparations, 0.60 ± 0.085 and 0.58 ± 0.10, respectively, did not differ significantly (P=0.67). The circular fibers did not exhibit length-dependent changes in contraction kinetics when given a twitch stimulus. As the stimulation frequency increased, L₀ was approximately 1.06 times longer than LTW, the mean preparation length that yielded maximum isometric twitch force. Sonomicrometry experiments revealed that the CMP circular muscle fibers operated in vivo primarily along the ascending limb of the length-tension curve. The CMP fibers functioned routinely over muscle lengths at which force output ranged from only 85% to 40% of P₀, and during escape jets from 100% to 30% of P₀. Our work shows that the functional diversity of obliquely striated muscles is much greater than previously recognized.

In vivo time-resolved microtomography reveals the mechanics of the blowfly flight motor

Time-resolved X-ray microtomography permits a real-time view of the blowfly in flight at a previously unprecedented level of detail, revealing how the tiny steering muscles work.

Dipteran flies are amongst the smallest and most agile of flying animals. Their wings are driven indirectly by large power muscles, which cause cyclical deformations of the thorax that are amplified through the intricate wing hinge. Asymmetric flight manoeuvres are controlled by 13 pairs of steering muscles acting directly on the wing articulations. Collectively the steering muscles account for <3% of total flight muscle mass, raising the question of how they can modulate the vastly greater output of the power muscles during manoeuvres. Here we present the results of a synchrotron-based study performing micrometre-resolution, time-resolved microtomography on the 145 Hz wingbeat of blowflies. These data represent the first four-dimensional visualizations of an organism's internal movements on sub-millisecond and micrometre scales. This technique allows us to visualize and measure the three-dimensional movements of five of the largest steering muscles, and to place these in the context of the deforming thoracic mechanism that the muscles actuate. Our visualizations show that the steering muscles operate through a diverse range of nonlinear mechanisms, revealing several unexpected features that could not have been identified using any other technique. The tendons of some steering muscles buckle on every wingbeat to accommodate high amplitude movements of the wing hinge. Other steering muscles absorb kinetic energy from an oscillating control linkage, which rotates at low wingbeat amplitude but translates at high wingbeat amplitude. Kinetic energy is distributed differently in these two modes of oscillation, which may play a role in asymmetric power management during flight control. Structural flexibility is known to be important to the aerodynamic efficiency of insect wings, and to the function of their indirect power muscles. We show that it is integral also to the operation of the steering muscles, and so to the functional flexibility of the insect flight motor.

A blowfly's wingbeat is 50 times shorter than a blink of a human eye, and is controlled by numerous tiny steering muscles—some of which are as thin as a human hair. To visualize the movements of these muscles and the deformations of the surrounding exoskeleton, we developed a technique to allow us to look inside the insects during tethered flight. We used a particle accelerator to record high-speed X-ray images of the flying blowflies, which we used to reconstruct three-dimensional tomograms of their flight motor at ten different stages of the wingbeat. We measured the asymmetric movements of the steering muscles associated with turning flight, together with the accompanying movements of the wing hinge—arguably the most complex joint in nature. The steering muscles represent <3% of total flight muscle mass, so a key question has been how they can modulate the output of the much larger power muscles. We show that by shifting the flight motor between different modes of oscillation, the fly is able to divert mechanical energy into a steering muscle that is specialized to absorb mechanical energy. In general, we find that deformations of the muscles and thorax are key to understanding this remarkable mechanism.

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.

Temperature gradients drive mechanical energy gradients in the flight muscle of Manduca sexta

A temperature gradient throughout the dominant flight muscle (dorsolongitudinal muscle, DLM(1)) of the hawkmoth Manduca sexta, together with temperature-dependent muscle contractile rates, demonstrates that significant spatial variation in power production is possible within a single muscle. Using in situ work-loop analyses under varying muscle temperatures and phases of activation, we show that regional differences in muscle temperature will induce a spatial gradient in the mechanical power output throughout the DLM(1). Indeed, we note that this power gradient spans from positive to negative values across the predicted temperature range. Warm ventral subunits produce positive power at their in vivo operating temperatures, and therefore act as motors. Concurrently, as muscle temperature decreases dorsally, the subunits produce approximately zero mechanical power output, acting as an elastic energy storage source, and negative power output, behaving as a damper. Adjusting the phase of activation further influences the temperature sensitivity of power output, significantly affecting the mechanical power output gradient that is expressed. Additionally, the separate subregions of the DLM(1) did not appear to employ significant physiological compensation for the temperature-induced differences in power output. Thus, although the components of a muscle are commonly thought to operate uniformly, a significant within-muscle temperature gradient has the potential to induce a mechanical power gradient, whereby subunits within a muscle operate with separate and distinct functional roles.

Joint-specific power production during submaximal and maximal cycling

Separate authors have reported that knee extension dominates power production during submaximal cycling (SUB(cyc)) and hip extension is the dominant action during maximal cycling (MAX(cyc)). Changes in joint-specific powers across broad ranges of net cycling powers (P(net)) within one group of cyclists have not been reported.

PURPOSE

Our purpose was to determine the extent to which ankle, knee, and hip joint actions produced power across a range of P(net) . We hypothesized that relative knee extension power would decrease and relative knee flexion and hip extension powers would increase as P(net) increased.

METHODS

Eleven cyclists performed SUB(cyc) (250, 400, 550, 700, and 850 W) and MAX(cyc) trials at 90 rpm. Joint-specific powers were calculated and averaged over complete pedal revolutions and over extension and flexion phases. Portions of the cycle spent in extension (duty cycle) were determined for the whole leg and ankle, knee, and hip joints. Relationships of relative joint-specific powers with P(net) were assessed with linear regression analyses.

RESULTS

Absolute ankle, knee, and hip joint-specific powers increased as P(net) increased. Relative knee extension power decreased (r(2) = 0.88, P = 0.01) and knee flexion power increased (r(2) = 0.98, P < 0.001) as P(net) increased. Relative hip extension power was constant across all P(net) . Whole-leg and ankle, knee, and hip joint duty cycle values were greater for MAX(cyc) than for SUB(cyc).

CONCLUSIONS

Our data demonstrate that 1) absolute ankle, knee, and hip joint-specific powers substantially increase as a function of increased P(net) , 2) hip extension was the dominant power-producing action during SUB(cyc) and MAX(cyc), 3) knee flexion power becomes relatively more important during high-intensity cycling, and 4) increased duty cycle values represent an important strategy to increase maximum power.

The ultrastructure and contractile properties of a fast-acting, obliquely striated, myosin-regulated muscle: the funnel retractor of squids

We investigated the ultrastructure, contractile properties, and in vivo length changes of the fast-acting funnel retractor muscle of the long-finned squid Doryteuthis pealeii. This muscle is composed of obliquely striated, spindle-shaped fibers ~3 mum across that have an abundant sarcoplasmic reticulum, consisting primarily of membranous sacs that form 'dyads' along the surface of each cell. The contractile apparatus consists of 'myofibrils' approximately 0.25-0.5 microm wide in cross section arrayed around the periphery of each cell, surrounding a central core that contains the nucleus and large mitochondria. Thick myofilaments are approximately 25 nm in diameter and approximately 2.8 microm long. 'Dense bodies' are narrow, resembling Z lines, but are discontinuous and are not associated with the cytoskeletal fibrillar elements that are so prominent in slower obliquely striated muscles. The cells approximate each other closely with minimal intervening intercellular connective tissue. Our physiological experiments, conducted at 17 degrees C, showed that the longitudinal muscle fibers of the funnel retractor were activated rapidly (8 ms latent period following stimulation) and generated force rapidly (peak twitch force occurred within 50 ms). The longitudinal fibers had low V(max) (2.15 +/-0.26 L(0) s(-1), where L(0) was the length that generated peak isometric force) but generated relatively high isometric stress (270+/-20 mN mm(-2) physiological cross section). The fibers exhibited a moderate maximum power output (49.9 W kg(-1)), compared with vertebrate and arthropod cross striated fibers, at a V/V(max) of 0.33+/-0.044. During ventilation of the mantle cavity and locomotion, the funnel retractor muscle operated in vivo over a limited range of strains (+0.075 to -0.15 relative to resting length, L(R)) and at low strain rates (from 0.16 to 0.91 L(R) s(-1) ), corresponding to a range of V/V(max) from 0.073 to 0.42. During the exhalant phase of the jet the range of strains was even narrower: maximum range less than +/-0.04, with the muscle operating nearly isometrically during ventilation and slow, arms-first swimming. The limited length operating range of the funnel retractor muscles, especially during ventilation and slow jetting, suggests that they may act as muscular struts.

The ontogeny of muscle structure and locomotory function in the long-finned squid Doryteuthis pealeii

Understanding the extent to which changes in muscle form and function underlie ontogenetic changes in locomotory behaviors and performance is important in understanding the evolution of musculoskeletal systems and also the ecology of different life stages. We explored ontogenetic changes in the structure, myosin heavy chain (MHC) expression and contractile properties of the circular muscles that provide power for jet locomotion in the long-finned squid Doryteuthis pealeii. The circular muscle fibers of newly hatched paralarvae had different sizes, shapes, thick filament lengths, thin:thick filament ratio, myofilament organization and sarcoplasmic reticulum (SR) distribution than those of adults. Viewed in cross section, most circular muscle cells were roughly triangular or ovoid in shape with a core of mitochondria; however, numerous muscle cells with crescent or other unusual cross-sectional shapes and muscle cells with unequal distributions of mitochondria were present in the paralarvae. The frequency of these muscle cells relative to ‘normal’ circular muscle cells ranged from 1:6 to 1:10 among the 19 paralarvae we surveyed. The thick filaments of the two types of circular fibers, superficial mitochondria-rich (SMR) and central mitochondria-poor (CMP), differed slightly in length among paralarvae with thick filament lengths of 0.83±0.15 μm and 0.71±0.1 μm for the SMR and CMP fibers, respectively (P 0.05; ANOVA). During ontogeny the thick filament lengths of both the CMP and SMR fibers increased significantly to 1.78±0.27 μm and 3.12±0.56 μm, respectively, in adults (P&lt;0.0001 for both comparisons; ANOVA with Tukey's highly significant difference post hoc tests). When sectioned parallel to their long axes, the SMR and CMP fibers of both paralarvae and adults exhibited the myofilament arrangements typical of obliquely striated muscle cells but the angle of obliquity of the dense bodies was 22.8±2.4 deg. and 4.6±0.87 deg. for paralarvae and adults, respectively. There were also differences in the distribution of the anastomosing network of SR. In paralarvae, the outer and central zones of SR were well developed but the intramyoplasmic zone was greatly reduced in some cells or was scattered non-uniformly across the myoplasm. Whereas in adults the intramyoplasmic SR region was composed primarily of flattened tubules, it was composed primarily of rounded vesicles or tubules when present in the paralarvae. The ontogenetic differences in circular muscle structure were correlated with significant differences in their contractile properties. In brief tetanus at 20°C, the mean unloaded shortening velocity of the paralarval circular muscle preparations was 9.1 L0 s−1 (where L0 was the preparation length that generated the peak isometric stress), nearly twice that measured in other studies for the CMP fibers of adults. The mean peak isometric stress was 119±15 mN mm−2 physiological cross section, nearly half that measured for the CMP fibers of adults. Reverse transcriptase-polymerase chain reaction analysis of paralarval and adult mantle samples revealed very similar expression patterns of the two known isoforms of squid MHC. The ontogenetic differences in the structure and physiology of the circular muscles may result in more rapid mantle movements during locomotion. This prediction is consistent with jet pulse durations observed in other studies, with shorter jet pulses providing hydrodynamic advantages for paralarvae.

Modulation of flight muscle power output in budgerigars Melopsittacus undulatus and zebra finches Taeniopygia guttata: in vitro muscle performance

The pectoralis muscles are the main source of mechanical power for avian flight. The power output of these muscles must be modulated to meet the changing power requirements of flight across a range of speeds. This can be achieved at the muscle level by manipulation of strain trajectory and recruitment patterns, and/or by intermittent flight strategies. We have measured the in vitro power outputs of pectoralis muscle fascicles from budgerigars Melopsittacus undulatus and zebra finches Taeniopygia guttata under conditions replicating those previously measured in vivo during flight. This has allowed us to quantify the extent to which different power modulation mechanisms control flight muscle power output. Intermittent flight behaviour is a more important determinant of flight power in zebra finches than budgerigars. This behaviour accounts for 25-62% of power modulation relative to the maximum available mechanical power output in zebra finch, compared to 0-38% in budgerigars. Muscle level changes in fascicle strain trajectory and motor unit recruitment, rather than intermittent flight behaviours, are the main determinants of pectoralis muscle power output in budgerigars at all speeds, and in zebra finch at speeds below 14 m s(-1).

Modulation of in vivo muscle power output during swimming in the African clawed frog (Xenopus laevis)

The goal of this study is to explore how swimming animals produce the wide range of performance that is seen across their natural behaviors. In vivo recordings of plantaris longus muscle length change were obtained by sonomicrometry. Simultaneous with muscle length data, force measurements were obtained using a novel tendon buckle force transducer placed on the Achilles tendon of Xenopus laevis frogs during brief accelerating bursts of swimming. In vivo work loops revealed that the plantaris generates a variable amount of positive muscle work over a range of swimming cycle durations (from 0.23 to 0.76 s), resulting in a large range of cycle power output (from 2.32 to 74.17 W kg(-1) muscle). Cycle duration correlated negatively with cycle power, and cycle work correlated positively (varying as a function of peak cycle stress and, to a much lesser extent, fascicle strain amplitude). However, variation in cycle duration only contributed to 12% of variation in power, with cycle work accounting for the remaining 88%. Peak cycle stress and strain amplitude were also highly variable, yet peak stress was a much stronger predictor of cycle work than strain amplitude. Additionally, EMG intensity correlated positively with peak muscle stress (r(2)=0.53). Although the timing of muscle recruitment (EMG phase and EMG duty cycle) varied considerably within and among frogs, neither parameter correlated strongly with cycle power, cycle work, peak cycle stress or strain amplitude. These results suggest that relatively few parameters (cycle duration, peak cycle stress and strain amplitude) vary to permit a wide range of muscle power output, which allows anurans to swim over a large range of velocities and accelerations.

Relative shortening velocity in locomotor muscles: turkey ankle extensors operate at low V/V(max)

The force-velocity properties of skeletal muscle have an important influence on locomotor performance. All skeletal muscles produce less force the faster they shorten and typically develop maximal power at velocities of approximately 30% of maximum shortening velocity (V(max)). We used direct measurements of muscle mechanical function in two ankle extensor muscles of wild turkeys to test the hypothesis that during level running muscles operate at velocities that favor force rather than power. Sonomicrometer measurements of muscle length, tendon strain-gauge measurements of muscle force, and bipolar electromyographs were taken as animals ran over a range of speeds and inclines. These measurements were integrated with previously measured values of muscle V(max) for these muscles to calculate relative shortening velocity (V/V(max)). At all speeds for level running the V/V(max) values of the lateral gastrocnemius and the peroneus longus were low (<0.05), corresponding to the region of the force-velocity relationship where the muscles were capable of producing 90% of peak isometric force but only 35% of peak isotonic power. V/V(max) increased in response to the demand for mechanical power with increases in running incline and decreased to negative values to absorb energy during downhill running. Measurements of integrated electromyograph activity indicated that the volume of muscle required to produce a given force increased from level to uphill running. This observation is consistent with the idea that V/V(max) is an important determinant of locomotor cost because it affects the volume of muscle that must be recruited to support body weight.

Submaximal power output from the dorsolongitudinal flight muscles of the hawkmothManduca sexta

To assess the extent to which the power output of a synchronous insect flight muscle is maximized during flight, we compared the maximum potential power output of the mesothoracic dorsolongitudinal (dl1) muscles of Manduca sexta to their power output in vivo. Holding temperature and cycle frequency constant at 36°C and 25 Hz, respectively,we varied the phase of activation, mean length and strain amplitude. Under in vivo conditions measured in tethered flight, the dl1muscles generated only 40–67% of their maximum potential power output. Compared to the in vivo phase of activation, the phase that maximized power output was advanced by 12% of the cycle period, and the length that maximized power output was 10% longer than the in vivo operating length.

Force-velocity properties of two avian hindlimb muscles

Recent work has provided measurements of power output in avian skeletal muscles during running and flying, but little is known about the contractile properties of avian skeletal muscle. We used an in situ preparation to characterize the force-velocity properties of two hind limb muscles, the lateral gastrocnemius (LG) and peroneus longus (PL), in Wild Turkeys (Meleagris gallopavo). A servomotor measured shortening velocity for at least six different loads over the plateau region of the length-tension curve. The Hill equation was fit to the data to determine maximum shortening velocity and peak instantaneous power. Maximum unloaded shortening velocity was 13.0+/-1.6 L s(-1) for the LG muscle and 14.8+/-1.0 L s(-1) for the PL muscle (mean+/-S.E.M.). These velocities are within the range of values published for reptilian and mammalian muscles. Values recorded for maximum isometric force per cross-sectional area, 271+/-28 kPa for the LG and 257+/-30.5 kPa for the PL, and peak instantaneous power output, 341.7+/-36.4 W kg(-1) for the LG and 319.4+/-42.5 W kg(-1) for the PL, were also within the range of published values for vertebrate muscle. The force-velocity properties of turkey LG and PL muscle do not reveal any extreme differences in the mechanical potential between avian and other vertebrate muscle.

Permeability of C2C12 myotube membranes is influenced by stretch velocity

Mechanical signals are critical to the growth and maintenance of skeletal muscle, but the mechanism by which these signals are transduced by the cell remains unknown. This work examined the hypothesis that stretch conditions influence membrane permeability consistent with a role for membrane permeability in mechanotransduction. C2C12 myotubes were grown in conditions that encourage uniform alignment and subjected to uniform mechanical deformation in the presence of fluorescein labeled dextran to evaluate membrane permeability as a function of stretch amplitude and velocity. Within a physiologically relevant range of conditions, a complex interaction between the two aspects of stretch was observed, with velocity contributing most strongly at large stretch amplitudes. This suggests that membrane viscosity could contribute to mechanotransduction.

The integrated function of muscles and tendons during locomotion

The mechanical roles of tendon and muscle contractile elements during locomotion are often considered independently, but functionally they are tightly integrated. Tendons can enhance muscle performance for a wide range of locomotor activities because muscle-tendon units shorten and lengthen at velocities that would be mechanically unfavorable for muscle fibers functioning alone. During activities that require little net mechanical power output, such as steady-speed running, tendons reduce muscular work by storing and recovering cyclic changes in the mechanical energy of the body. Tendon stretch and recoil not only reduces muscular work, but also allows muscle fibers to operate nearly isometrically, where, due to the force-velocity relation, skeletal muscle fibers develop high forces. Elastic energy storage and recovery in tendons may also provide a key mechanism to enable individual muscles to alter their mechanical function, from isometric force-producers during steady speed running to actively shortening power-producers during high-power activities like acceleration or uphill running. Evidence from studies of muscle contraction and limb dynamics in turkeys suggests that during running accelerations work is transferred directly from muscle to tendon as tendon stretch early in the step is powered by muscle shortening. The energy stored in the tendon is later released to help power the increase in energy of the body. These tendon length changes redistribute muscle power, enabling contractile elements to shorten at relatively constant velocities and power outputs, independent of the pattern of flexion/extension at a joint. Tendon elastic energy storage and recovery extends the functional range of muscles by uncoupling the pattern of muscle fiber shortening from the pattern of movement of the body.

History dependence of force production in submaximal stimulated rat medial gastrocnemius muscle

Studies on maximal stimulated muscle have shown that history dependence is an integral part of muscle force production. The purpose of this study was to evaluate the history dependent effects in submaximal stimulated muscle. For this purpose, lengthening and shortening experiments were performed on the medial gastrocnemius muscle of the rat. The length dependence of lengthening induced force enhancement and shortening induced force depression was studied in maximal (80 Hz) and submaximal (30 Hz) stimulated muscles. The most important results of this study are (a) submaximal stimulation reduces the maximal amplitude of the history effects and (b) lengthening induced force enhancement and shortening induced force deficit are affected differently by submaximal stimulation. The implication of these results for the underlying mechanism and functional relevance of the history dependent effects is discussed.

Muscle designed for maximum short-term power output: quail flight muscle

Take-off in birds at high speeds and steep angles of elevation requires a high burst power output. The mean power output of the pectoralis muscle of blue-breasted quail (Coturnix chinensis) during take-off is approximately 400 W kg-1 muscle, as determined using two independent methods. This burst power output is much higher than has been measured in any other cyclically contracting muscle. The power output of muscle is determined by the interactions between the physiological properties of the muscle, the stimulation regime imposed by the central nervous system and the details of the strain cycle, which are determined by the reciprocal interaction between the muscle properties and the environmental load. The physiological adaptations that enable a high power output to be achieved are those that allow the muscle to develop high stresses whilst shortening rapidly. These characteristics include a high myofibrillar density, rapid twitch contraction kinetics and a high maximum intrinsic velocity of shortening. In addition, several features of the strain cycle increase the power output of the quail pectoralis muscle. First, the muscle operates at a mean length shorter than the plateau of the length/force relationship. Second,the muscle length trajectory is asymmetrical, with 70 % of the cycle spent shortening. The asymmetrical cycle is expected to increase the power output substantially. Third, subtle deviations in the velocity profile improve power output compared with a simple asymmetrical cycle with constant lengthening and shortening rates. The high burst power outputs found in the flight muscles of quail and similar birds are limited to very brief efforts before fatigue occurs. This strong but short flight performance is well-suited to the rapid-response anti-predation strategy of these birds that involves a short flight coupled with a subsequent sustained escape by running. These considerations serve as a reminder that the maximum power-producing capacities of muscles need to be considered in the context of the in vivosituation within which the muscles operate.

Mechanical properties of the latissimus dorsi muscle after cyclic training

Cardiomyoplasty is a procedure developed to improve heart performance in patients suffering from congestive heart failure. The latissimus dorsi (LD) muscle is surgically wrapped around the failing ventricles and stimulated to contract in synchrony with the heart. The LD muscle is easily fatigued and as a result is unsuitable for cardiomyoplasty. For useful operation as a cardiac-assist device, the fatigue resistance of the LD muscle must be improved while retaining a high power output. The LD muscle of rabbits was subjected to a training regime in which cyclic work was performed. Training transformed the fiber-type composition from approximately equal proportions of fast oxidative glycolytic (FOG) and fast glycolytic (FG) fibers to one composed of almost entirely of FOG with no FG, which increased fatigue resistance while retaining rapid contraction kinetics. Muscle mass and cross-sectional area increased but power output decreased, relative to control muscles. This training regime represents a significant improvement in terms of preserving muscle mass and power compared with other training regimes, while enhancing fatigue resistance, although some fiber damage occurred. The power output of the trained LD muscle was calculated to be sufficient to deliver a significant level of assistance to a failing heart during cardiomyoplasty.

The mechanical power output of the pectoralis muscle of blue-breasted quail (Coturnix chinensis): thein vivolength cycle and its implications for muscle performance

Sonomicrometry and electromyographic (EMG) recordings were made for the pectoralis muscle of blue-breasted quail (Coturnix chinensis) during take-off and horizontal flight. In both modes of flight, the pectoralis strain trajectory was asymmetrical, with 70 % of the total cycle time spent shortening. EMG activity was found to start just before mid-upstroke and continued into the downstroke. The wingbeat frequency was 23 Hz, and the total strain was 23 % of the mean resting length.

Bundles of fibres were dissected from the pectoralis and subjected in vitro to the in vivo length and activity patterns, whilst measuring force. The net power output was only 80 W kg–1 because of a large artefact in the force record during lengthening. For more realistic estimates of the pectoralis power output, we ignored the power absorbed by the muscle bundles during lengthening. The net power output during shortening averaged over the entire cycle was approximately 350 W kg–1, and in several preparations over 400 W kg–1. Sawtooth cycles were also examined for comparison with the simulation cycles, which were identical in all respects apart from the velocity profile. The power output during these cycles was found to be 14 % lower than during the in vivo strain trajectory. This difference was due to a higher velocity of stretch, which resulted in greater activation and higher power output throughout the later part of shortening, and the increase in shortening velocity towards the end of shortening, which facilitated deactivation.

The muscle was found to operate at a mean length shorter than the plateau of the length/force relationship, which resulted in the isometric stress measured at the mean resting length being lower than is typically reported for striated muscle.

The mechanical power output of the flight muscles of blue-breasted quail (Coturnix chinensis) during take-off

Blue-breasted quail (Coturnix chinensis) were filmed during take-off flights. By tracking the position of the centre of mass of the bird in three dimensions, we were able to calculate the power required to increase the potential and kinetic energy. In addition, high-speed video recordings of the position of the wings over the course of the wing stroke, and morphological measurements, allowed us to calculate the aerodynamic and inertial power requirements. The total power output required from the pectoralis muscle was, on average, 390 W kg–1, which was similar to the highest measurements made on bundles of muscle fibres in vitro (433 W kg–1), although for one individual a power output of 530 W kg–1 was calculated. The majority of the power was required to increase the potential energy of the body. The power output of these muscles is the highest yet found for any muscle in repetitive contractions.

We also calculated the power requirements during take-off flights in four other species in the family Phasianidae. Power output was found to be independent of body mass in this family. However, the precise scaling of burst power output within this group must await a better assessment of whether similar levels of performance were measured across the group. We extended our analysis to one species of hawk, several species of hummingbird and two species of bee. Remarkably, we concluded that, over a broad range of body size (0.0002–5 kg) and contractile frequency (5–186 Hz), the myofibrillar power output of flight muscles during short maximal bursts is very high (360–460 W kg–1) and shows very little scaling with body mass. The approximate constancy of power output means that the work output varies inversely with wingbeat frequency and reaches values of approximately 30–60 J kg–1 in the largest species.

How animals move: an integrative view

Recent advances in integrative studies of locomotion have revealed several general principles. Energy storage and exchange mechanisms discovered in walking and running bipeds apply to multilegged locomotion and even to flying and swimming. Nonpropulsive lateral forces can be sizable, but they may benefit stability, maneuverability, or other criteria that become apparent in natural environments. Locomotor control systems combine rapid mechanical preflexes with multimodal sensory feedback and feedforward commands. Muscles have a surprising variety of functions in locomotion, serving as motors, brakes, springs, and struts. Integrative approaches reveal not only how each component within a locomotor system operates but how they function as a collective whole.

Effects of 1- or -adrenoceptor stimulation on work-loop and isometric contractions of isolated rat cardiac trabeculae

1. We studied the effects of alpha1- or beta-adrenoceptor stimulation on the contractility of isolated rat ventricular trabeculae at 24 degrees C using the work-loop technique, which simulates the cyclical changes in length and force that occur during the cardiac cycle. Some muscles were injected with fura-2 to monitor the intracellular Ca2+ transient. 2. Comparison of twitch records revealed that peak force was greater and was reached earlier in work-loop contractions than in corresponding isometric contractions. This was attributed to the changes in muscle length and velocity during work-loop contractions, since the Ca2+ transients were largely unaffected by the length changes. 3. Stimulation of alpha1-adrenoceptors (with 100 microM phenylephrine) increased net work, power production, the frequency for maximum work, and the frequency for maximum power production (fopt). The increase in net work was due to the positive inotropic effect of phenylephrine, which was similar at all frequencies investigated (0. 33-4.5 Hz). The increase in fopt was attributed to an abbreviation of twitch duration induced by alpha1-stimulation at higher frequencies (> 1 Hz), even though the twitch became longer at 0.33 Hz. 4. beta-Adrenoceptor stimulation (with 5 microM isoprenaline) produced marked increases in net work, power output, the frequency for net work, and fopt. These effects were attributed both to the positive inotropic effect of beta-stimulation, which was greater at higher frequencies, and to the reduction in twitch duration. beta-stimulation also abolished the frequency-dependent acceleration of twitch duration. 5. The increase in power output and fopt with alpha1- as well as beta-adrenoceptor stimulation suggested that both receptor types may contribute to the effects of catecholamines, released during stress or exercise, although the greater effects of beta-stimulation are likely to predominate.

Power output of sound-producing muscles in the tree frogs Hyla versicolor and Hyla chrysoscelis

Sound-producing muscles provide the opportunity of studying the limits of power production at high contractile frequencies. We used the work loop technique to determine the power available from the external oblique muscles in two related species of North American gray tree frog, Hyla chrysoscelis and Hyla versicolor. These trunk muscles contract cyclically, powering high-intensity sound production in anuran amphibians. The external oblique muscles in H. chrysoscelis have an in vivo operating frequency of 40–55 Hz at 20–25 degrees C, whereas in H. versicolor these muscles contract with a frequency of 20–25 Hz at these temperatures. In vivo investigations have shown that these muscles use an asymmetrical sawtooth length trajectory (with a longer shortening phase compared with the lengthening phase) during natural cycles. To study the influence of this particular length trajectory on power output, we subjected the muscles to both sinusoidal and sawtooth length trajectories. In both species, the sawtooth trajectory yielded a significantly higher power output than the sinusoidal length pattern. The maximum power output during sawtooth cycles was similar in both species (54 W kg(−)(1) in H. chrysoscelis and 58 W kg(−)(1) in H. versicolor). These values are impressive, particularly at the operating frequencies and temperatures of the muscle. The sinusoidal length trajectory yielded only 60 % of the total power output compared with the sawtooth trajectory (34 W kg(−)(1) for H. chrysoscelis and 36 W kg(−)(1) for H. versicolor). The optimum cycle frequencies maximizing the power output using a sawtooth length pattern were approximately 44 Hz for H. chrysoscelis and 21 Hz for H. versicolor. These frequencies are close to those used by the two species during calling. Operating at higher frequencies, H. chrysoscelis maximized power at a strain amplitude of only 8 % compared with a value of 12 % in H. versicolor. These strains match those used in vivo during calling. The stimulus timing observed in vivo during calling was also similar to that yielding maximum power at optimal frequency in both species (6 ms and 8 ms before the start of shortening in H. chrysoscelis and H. versicolor, respectively). As expected, twitch duration in H. chrysoscelis is much shorter than that in H. versicolor (23 ms and 37 ms, respectively). There was a less remarkable difference between their maximum shortening velocities (V(max)) of 13.6 L(0)s(−)(1) in H. chrysoscelis and 11.1 L(0)s(−)(1) in H. versicolor, where L(0) is muscle length. The force-velocity curves are very flat, which increases power output. At the myofibrillar level, the flat force-velocity curves more than compensate for the lower peak isometric force found in these muscles. The data presented here emphasize the importance of incorporating in vivo variables in designing in vitro studies.

Work-dependent deactivation of a crustacean muscle

Active shortening of respiratory muscle L2B from the crab Carcinus maenas results in contractile deactivation, seen as (1) a decline of force during the course of isovelocity shortening, (2) a reduction in the rate of force redevelopment following shortening, (3) a depression of the level of isometric force reached following shortening, and (4) an accelerated relaxation at the end of stimulation. The degree of deactivation increases with increasing distance of shortening, decreases with increasing shortening velocity, and is approximately linearly related to the work done during shortening. Deactivation lasts many seconds if stimulation is maintained, but is largely although not completely removed if the stimulation is temporarily interrupted so that the force drops towards the resting level. Deactivation for a given distance and velocity of shortening increases with increasing muscle length above the optimum length for force production. Stimulating muscle L2B at suboptimal frequencies gives tetanic contractions that are fully fused but of less than maximal amplitude. The depression of force following shortening, relative to the force during an isometric contraction, is independent of the stimulus frequency used to activate the muscle, indicating that deactivation is not a function of the background level of stimulus-controlled muscle activation upon which it occurs. Deactivation reduces the work required to restretch a muscle after it has shortened, but it also lowers the force and therefore the work done during shortening. The net effect of deactivation on work output over a full shortening/lengthening cycle is unknown.

Elastic energy storage and release in white muscle from dogfish scyliorhinus canicula

The production of work by the contractile component (CC) and the storage and release of work in the elastic structures that act in series (the series elastic component, SEC) with the contractile component were measured using white muscle fibres from the dogfish Scyliorhinus canicula. Heat production was also measured because the sum of work and heat is equivalent to the energy cost of the contraction (ATP used). These energy fluxes were evaluated in contractions with constant-velocity shortening either during stimulation or during relaxation. The muscle preparation was tetanized for 0.6 s and shortened by 1 mm (approximately 15 % of L0) at 3.5 or 7.0 mm s-1 (approximately 15 or 30 % of V0), where L0 is the muscle length at which isometric force is greatest and V0 is the maximum velocity of shortening. In separate experiments, the stiffness of the SEC was characterized from measurements of force responses to step changes in the length of contracting muscle. Using the values of SEC stiffness, we evaluated separately the work and heat associated with the CC and with the SEC. The major findings were (1) that work stored in the SEC could be completely recovered as external work when shortening occurred during relaxation (none of the stored work being degraded into heat) and (2) that, when shortening occurred progressively later during the contraction, the total energy cost of the contraction declined towards that of an isometric contraction.

A predicted in vivo muscle force – velocity trajectory

The in vivo stress–strain and stress – strain rate relationships of the adductor muscle in a swimming scallop (Placopecten magellanicus) were predicted on the basis of detailed measured swimming movements and a recently developed dynamic model that integrates all important mechanical elements in the process. The in vivo behaviour of the muscle was found to be quite different than the in vitro properties measured on isolated muscle fibres, which suggests that in general the latter might not be directly used to predict the in vivo mechanical events.

Muscle function during jumping in frogs. II. Mechanical properties of muscle: implications for system design

We characterized the design of the frog muscular system for jumping by comparing the properties of isolated muscle with the operating conditions of muscle measured during maximal jumps. During jumping, the semimembranosus muscle (SM) shortened with a V/Vmax (where V is shortening velocity and Vmax is maximal shortening velocity) where 90 and 100% of maximal power would be generated at 15 and 25 degrees C, respectively. To assess the level of activation during jumping, the SM was driven through the in vivo length change and stimulus conditions while the resulting force was measured. The force generated under the in vivo conditions at both temperatures was at least 90% of the force generated at that same V under maximally activated conditions. Thus the SM was nearly maximally activated, and shortening deactivation was minimal. The initial sarcomere length and duration of the stimulus before shortening were important factors that minimized shortening deactivation during jumping. Thus the frog muscular system appears to be designed to meet the three necessary conditions for maximal power generation during jumping: optimal myofilament overlap, optimal V/Vmax, and maximal activation.