Muscle power output during escape responses in an Antarctic fish

High resolution kinematic approach for quantifying impaired mobility of dystrophic zebrafish larvae

Dystrophin-deficient zebrafish larvae are a small, genetically tractable vertebrate model of Duchenne muscular dystrophy well suited for early stage therapeutic development. However, current approaches for evaluating their impaired mobility, a physiologically relevant therapeutic target, are characterized by low resolution and high variability. To address this, we used high speed videography and deep learning-based markerless motion capture to develop linked-segment models of larval escape response (ER) swimming. Kinematic models provided repeatable, high precision estimates of larval ER performance. Effect sizes for ER peak instantaneous acceleration and speed, final displacement, and ER distance were 2 to 3.5 standard deviations less for dystrophin-deficient mutants vs. wild-types. Further analysis revealed that mutants swam slower because of a reduction in their tail stroke frequency with little change in tail stroke amplitude. Kinematic variables were highly predictive of the dystrophic phenotype with ≤ 3% of larvae misclassified by random forest and support vector machine models. Tail kinematics also performed as well as in vitro assessments of tail muscle contractility in classifying larvae as mutants or wild-type, suggesting that ER kinematics could serve as a non-lethal proxy for direct measurements of muscle function. In summary, ER kinematics can be used as precise, physiologically relevant, non-lethal biomarkers of the dystrophic phenotype. The open-source approach described here may have applications not only for studies of skeletal muscle disease but for other disciplines that use larval mobility as an experimental outcome.

From fibre to function: are we accurately representing muscle architecture and performance?

The size and arrangement of fibres play a determinate role in the kinetic and energetic performance of muscles. Extrapolations between fibre architecture and performance underpin our understanding of how muscles function and how they are adapted to power specific motions within and across species. Here we provide a synopsis of how this 'fibre to function' paradigm has been applied to understand muscle design, performance and adaptation in animals. Our review highlights the widespread application of the fibre to function paradigm across a diverse breadth of biological disciplines but also reveals a potential and highly prevalent limitation running through past studies. Specifically, we find that quantification of muscle architectural properties is almost universally based on an extremely small number of fibre measurements. Despite the volume of research into muscle properties, across a diverse breadth of research disciplines, the fundamental assumption that a small proportion of fibre measurements can accurately represent the architectural properties of a muscle has never been quantitatively tested. Subsequently, we use a combination of medical imaging, statistical analysis, and physics-based computer simulation to address this issue for the first time. By combining diffusion tensor imaging (DTI) and deterministic fibre tractography we generated a large number of fibre measurements (>3000) rapidly for individual human lower limb muscles. Through statistical subsampling simulations of these measurements, we demonstrate that analysing a small number of fibres (n < 25) typically used in previous studies may lead to extremely large errors in the characterisation of overall muscle architectural properties such as mean fibre length and physiological cross-sectional area. Through dynamic musculoskeletal simulations of human walking and jumping, we demonstrate that recovered errors in fibre architecture characterisation have significant implications for quantitative predictions of in-vivo dynamics and muscle fibre function within a species. Furthermore, by applying data-subsampling simulations to comparisons of muscle function in humans and chimpanzees, we demonstrate that error magnitudes significantly impact both qualitative and quantitative assessment of muscle specialisation, potentially generating highly erroneous conclusions about the absolute and relative adaption of muscles across species and evolutionary transitions. Our findings have profound implications for how a broad diversity of research fields quantify muscle architecture and interpret muscle function.

Antarctic teleosts with and without hemoglobin behaviorally mitigate deleterious effects of acute environmental warming

Recent studies forecast that many ectothermic animals, especially aquatic stenotherms, may not be able to thrive or even survive predicted climate change. These projections, however, generally do not call much attention to the role of behavior, an essential thermoregulatory mechanism of many ectotherms. Here we characterize species-specific locomotor and respiratory responses to acute ambient warming in two highly stenothermic Antarctic Notothenioid fishes, one of which (Chaenocephalus aceratus) lacks hemoglobin and appears to be less tolerant to thermal stress as compared to the other (Notothenia coriiceps), which expresses hemoglobin. At the onset of ambient warming, both species perform distinct locomotor maneuvers that appear to include avoidance reactions. In response to unavoidable progressive hyperthermia, fishes demonstrate a range of species-specific maneuvers, all of which appear to provide some mitigation of the deleterious effects of obligatory thermoconformation and to compensate for increasing metabolic demand by enhancing the efficacy of branchial respiration. As temperature continues to rise, Chaenocephalus aceratus supplements these behaviors with intensive pectoral fin fanning which may facilitate cutaneous respiration through its scaleless integument, and Notothenia coriiceps manifests respiratory-locomotor coupling during repetitive startle-like maneuvers which may further augment gill ventilation. The latter behaviors, found only in Notothenia coriiceps, have highly stereotyped appearance resembling Fixed Action Pattern sequences. Altogether, this behavioral flexibility could contribute to the reduction of the detrimental effects of acute thermal stress within a limited thermal range. In an ecologically relevant setting, this may enable efficient thermoregulation of fishes by habitat selection, thus facilitating their resilience in persistent environmental change.

Motor control in the epaxial musculature of bluegill sunfish in feeding and locomotion

Fishes possess an impressive repertoire of feeding and locomotor behaviors that in many cases rely on the same power source: the axial musculature. As both functions employ different skeletal systems, head versus body, integrating these functions would likely require modular motor control. Although there have been many studies of motor control in feeding or locomotion in fishes, only one study to date has examined both functions in the same individuals. To characterize bilateral motor control of the epaxial musculature in feeding and locomotion, we measured muscle activity and shortening in bluegill sunfish (Lepomis macrochirus) using electromyography and sonomicrometry. We found that sunfish recruit epaxial regions in a dorsal-to-ventral manner to increase feeding performance, such that high-performance feeding activates all the epaxial musculature. In comparison, sunfish seemed to activate all three epaxial regions irrespective of locomotor performance. Muscle activity was present on both sides of the body in nearly all feeding and locomotor behaviors. Feeding behaviors used similar activation intensities on the two sides of the body, whereas locomotor behaviors consistently used higher intensities on the side undergoing muscle shortening. In all epaxial regions, fast-starts used the highest activation intensities, although high-performance suction feeding occasionally showed near-maximal intensity. Finally, active muscle volume was positively correlated with the peak rate of body flexion in feeding and locomotion, indicating a continuous relationship between recruitment and performance. A comparison of these results with recent work on largemouth bass (Micropterus salmoides) suggests that centrarchid fishes use similar motor control strategies for feeding, but interspecific differences in peak suction-feeding performance are determined by active muscle volume.

A biomechanical paradox in fish: swimming and suction feeding produce orthogonal strain gradients in the axial musculature

The axial musculature of fishes has historically been characterized as the powerhouse for explosive swimming behaviors. However, recent studies show that some fish also use their ‘swimming’ muscles to generate over 90% of the power for suction feeding. Can the axial musculature achieve high power output for these two mechanically distinct behaviors? Muscle power output is enhanced when all of the fibers within a muscle shorten at optimal velocity. Yet, axial locomotion produces a mediolateral gradient of muscle strain that should force some fibers to shorten too slowly and others too fast. This mechanical problem prompted research into the gearing of fish axial muscle and led to the discovery of helical fiber orientations that homogenize fiber velocities during swimming, but does such a strain gradient also exist and pose a problem for suction feeding? We measured muscle strain in bluegill sunfish, Lepomis macrochirus, and found that suction feeding produces a gradient of longitudinal strain that, unlike the mediolateral gradient for locomotion, occurs along the dorsoventral axis. A dorsoventral strain gradient within a muscle with fiber architecture shown to counteract a mediolateral gradient suggests that bluegill sunfish should not be able to generate high power outputs from the axial muscle during suction feeding—yet prior work shows that they do, up to 438 W kg⁻¹. Solving this biomechanical paradox may be critical to understanding how many fishes have co-opted ‘swimming’ muscles into a suction feeding powerhouse.

Size, History-Dependent, Activation and Three-Dimensional Effects on the Work and Power Produced During Cyclic Muscle Contractions

Muscles undergo cycles of length change and force development during locomotion, and these contribute to their work and power production to drive body motion. Muscle fibers are typically considered to be linear actuators whose stress depends on their length, velocity, and activation state, and whose properties can be scaled up to explain the function of whole muscles. However, experimental and modeling studies have shown that a muscle's stress additionally depends on inactive and passive tissues within the muscle, the muscle's size, and its previous contraction history. These effects have not been tested under common sets of contraction conditions, especially the cyclic contractions that are typical of locomotion. Here we evaluate the relative effects of size, history-dependent, activation and three-dimensional effects on the work and power produced during cyclic contractions of muscle models. Simulations of muscle contraction were optimized to generate high power outputs: this resulted in the muscle models being largely active during shortening, and inactive during lengthening. As such, the history-dependent effects were dominated by force depression during simulated active shortening rather than force enhancement during active stretch. Internal work must be done to deform the muscle tissue, and to accelerate the internal muscle mass, resulting in reduced power and work that can be done on an external load. The effect of the muscle mass affects the scaling of muscle properties, with the inertial costs of contraction being relatively greater at larger sizes and lower activation levels.

Simulated work loops predict maximal human cycling power

Fish, birds and lizards sometimes perform locomotor activities with maximized muscle power. Whether humans maximize muscle power is unknown because current experimental techniques cannot be applied non-invasively. This study leveraged simulated muscle work loops to examine whether voluntary maximal cycling is characterized by maximized muscle power. The simulated work loops used experimentally measured joint angles, anatomically realistic muscle parameters (muscle-tendon lengths, velocities and moment arms) and a published muscle model to calculate power and force for 38 muscles. For each muscle, stimulation onset and offset were optimized to maximize muscle work and power for the complete shortening/lengthening cycle. Simulated joint power and total leg power (i.e. summed muscle power) were compared with previously reported experimental joint and leg power. Experimental power values were closely approximated by simulated maximal power for the leg [intraclass correlation coefficient (ICC)=0.91], the hip (ICC=0.92) and the knee (ICC=0.95), but less closely for the ankle (ICC=0.74). Thus, during maximal cycling, humans maximize muscle power at the hip and knee, but the ankle acts to transfer (instead of maximize) power. Given that only the timing of muscle stimulation onset and offset were altered, these results suggest that human motor control strategies may optimize muscle activation to maximize power. The simulations also provide insight into biarticular muscle function by demonstrating that the power values at each joint spanned by a biarticular muscle can be substantially greater than the net power produced by the muscle. Our work-loop simulation technique may be useful for examining clinical deficits in muscle power production.

Force per cross-sectional area from molecules to muscles: a general property of biological motors

We propose to formally extend the notion of specific tension, i.e. force per cross-sectional area-classically used for muscles, to quantify forces in molecular motors exerting various biological functions. In doing so, we review and compare the maximum tensions exerted by about 265 biological motors operated by about 150 species of different taxonomic groups. The motors considered range from single molecules and motile appendages of microorganisms to whole muscles of large animals. We show that specific tensions exerted by molecular and non-molecular motors follow similar statistical distributions, with in particular, similar medians and (logarithmic) means. Over the 10(19) mass (M) range of the cell or body from which the motors are extracted, their specific tensions vary as M(α) with α not significantly different from zero. The typical specific tension found in most motors is about 200 kPa, which generalizes to individual molecular motors and microorganisms a classical property of macroscopic muscles. We propose a basic order-of-magnitude interpretation of this result.

Challenging zebrafish escape responses by increasing water viscosity

Escape responses of fishes have long been studied as a model locomotor behavior in which hypothesized maximal or near-maximal muscle power output is used to generate rapid body bending. In this paper we present the results of experiments that challenged zebrafish (Danio rerio) to perform escape responses in water of altered viscosity, to better understand the effects that the fluid mechanical environment exerts on kinematics. We quantified escape kinematics using 1000 frames s–1 high-speed video, and compared escape response kinematics of fish in three media that differed in viscosity: 1 mPa s (normal water), 10 mPa s and 20 mPa s (20 times normal water viscosity). We hypothesized that because viscosity is increased but not density there will be a different effect on kinematic variables resulting from unsteady (acceleration-dependent) hydrodynamic forces and steady (velocity-dependent) ones. Similarly, we hypothesized that the kinematics of stage 1 will be less affected by viscosity than those of stage 2, as higher angular velocities are reached during stage 1 resulting in higher Reynolds numbers. Our results showed a significant overall effect of viscosity on escape response kinematics but the effect was not in accordance with our predictions. Statistical tests showed that increasing viscosity significantly decreased displacement of the center of mass during stage 1 and after 30 ms, and decreased maximum velocity of the center of mass, maximum angular velocity and acceleration during stage 1, but increased time to maximum angular acceleration and time to maximum linear velocity of the center of mass. Remarkably, increasing water viscosity 20 times did not significantly affect the duration of stage 1 or stage 2.

Architectural gear ratio and muscle fiber strain homogeneity in segmented musculature

In the segmented axial musculature of fishes and amphibians, the patterns of muscle fiber shortening depend on both the orientation of muscle fibers relative to the long axis of the body as well as the distance of fibers from the neutral axis of bending (vertebral column). In this study we use the relatively simple architecture of salamander hypaxial muscles to explore the separate and combined effects of these morphological features on muscle fiber strains during swimming. In Siren lacertina the external oblique (EO) muscle has more obliquely oriented muscle fibers and is located further from the neutral axis of bending than the internal oblique (IO) muscle. To examine the effect of muscle fiber angle on strain patterns during swimming, we used sonomicrometry to quantify architectural gear ratio (AGR=longitudinal strain/fiber strain) in these two hypaxial muscles. By comparing the muscle fiber strains and shortening velocities of the EO and IO during swimming, we test whether variation in mediolateral position of the muscle layers is counteracted by their differences in AGR. We find that despite substantial differences in mediolateral position, the EO and IO undergo similar fiber strains and shortening velocities for a given amount of axial bending. Our results show that variation in muscle fiber angle acts to counteract differences in mediolateral position, thereby minimizing variation in muscle fiber strain and shortening velocity during swimming. These results highlight the significance of both muscle architecture and muscle moment arms in determining the fiber strains required for a given movement.

Muscle function and power output during suction feeding in largemouth bass, Micropterus salmoides

Muscle power output is thought to limit suction feeding performance, yet muscle power output during suction feeding has never been directly measured. In this study, epaxial activation and strain, hyoid depression, and intra-oral pressure were simultaneously measured during suction feeding in the largemouth bass (Micropterus salmoides). A mechanical model of muscle force transmission between the neurocranium and oral cavity was used to estimate muscle stress, work, and power. The epaxials shortened from rest an average of 9% of their length, with the highest efforts producing greater than 20% strain. Onset of shortening was simultaneous with or shortly after (< 10 ms) onset of activation. Maximal net power for individual fish ranged from 17 to 137 W kg(-1). Muscle power was significantly correlated with rectified EMG area (r = 0.80; p < 0.0001). The power required for cranial expansion was significantly correlated with epaxial power (r = 0.81; p < 0.0001), and the power exponent of this relationship ( approximately 1 for 3 of the 4 fish) implies that epaxial power accounts for most of the power of cranial expansion. The limitations imposed by the kinematic requirements and loading environment of suction feeding (short delay between activation and strain, maximal stress occurring after shortening, operation at lengths shorter than resting length) may prevent maximal muscular power production.

Muscle fiber angle, segment bulging and architectural gear ratio in segmented musculature

The anatomical complexity of myomeres and myosepta has made it difficult to develop a comprehensive understanding of the relationship between muscle fiber architecture, connective tissue mechanics, and locomotor function of segmented axial musculature in fishes. The lateral hypaxial musculature (LHM) of salamanders is less anatomically complex and therefore a good system for exploring the basic mechanics of segmented musculature. Here, we derive a mathematical model of the LHM and test our model using sonomicrometry and electromyography during steady swimming in an aquatic salamander, Siren lacertina. The model predicts longitudinal segment strain well, with predicted and measured values differing by less than 5% strain over most of the range. Deviations between predicted and measured results are unbiased and probably result from the salamanders performing slight turns with associated body torsion in our unconstrained trackway swimming experiments. Model simulations of muscle fiber contraction and segment shortening indicate that longitudinal segment strain, for a given amount of muscle fiber strain, increases with increasing initial fiber angle. This increase in architectural gear ratio (AGR = longitudinal strain/fiber strain) is mediated by muscle fiber rotation; the higher the initial fiber angle, the more the fibers rotate during contraction and the higher the AGR. Muscle fiber rotation is additionally impacted by bulging in the dorsoventral (DV) and/or mediolateral (ML) dimensions during longitudinal segment shortening. In segments with obliquely oriented muscle fibers, DV bulging increases muscle fiber rotation, thereby increasing the AGR. Extending the model to include force and work indicates that force decreases with increasing initial muscle fiber angle and increasing DV bulging and that both longitudinal shortening and DV bulging must be included for accurate calculation of segment work.

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.

Does condition of Atlantic cod (Gadus morhua) have a greater impact upon swimming performance at Ucrit or sprint speeds?

To compare the sensitivity of sprint and critical (Ucrit) swimming speeds to the condition of Atlantic cod (Gadus morhua) and to identify the best anatomic, behavioural and biochemical correlates of these types of swimming, we established two groups of cod that were fed or starved for 12 weeks. We evaluated sprint swimming and Ucrit performance as well as the speed at which repeated burst-coast movements began in the Ucrit test before measuring the metabolic capacities of red and white muscle sampled caudally, centrally and rostrally and the anatomic characteristics of the cod. White muscle lactate was measured directly after the Ucrit test. As expected, the twofold difference in Fulton's condition factor (0.5+/-0.04 for starved and 1.0+/-0.1 for fed cod) was accompanied by large differences in the anatomic and biochemical parameters measured. Despite the relative sparing of muscle aerobic capacity during starvation and despite the greater use of oxidative fibres during Ucrit compared with sprint swimming, these types of swimming differed by much the same extent between starved and fed cod. In the Ucrit tests, white muscle lactate levels and lactate accumulation per burst-coast movement were considerably higher in fed than starved cod, suggesting more intensive use of fast muscle fibres in cod in good condition. Multiple regression analysis indicated strong correlations between Ucrit, the speed at which regular burst-coasting began and the activity of pyruvate dehydrogenase (PDH) in red muscle (both caudal and central positions). PDH activity may limit the rate of oxidative ATP production by red muscle. The activity of cytochrome c oxidase in rostral white muscle was the strongest correlate of sprint swimming, suggesting that aerobic preparation of white muscle facilitates rapid contraction. The correlation between Ucrit and sprint swimming was weak, perhaps due to inter-individual differences in sensitivity during sprint tests.

Muscle activation and strain during suction feeding in the largemouth bassMicropterus salmoides

Activation and strain in the sternohyoideus (SH) were measured in vivo in five largemouth bass Micropterus salmoides. The SH is thought to actuate lower jaw depression, hyoid depression and suspensorial abduction during suction feeding in teleost fish. Sonomicrometry was used to measure fascicle shortening and lower jaw kinematics, while activity was measured by electromyography (EMG). SH fascicles shortened by an average of 11% during suction feeding. In three fish SH fascicles consistently shortened during fast lower jaw depression, but in two individuals they contracted isometrically or lengthened slightly during fast lower jaw depression. The SH continued shortening after peak gape, presumably actuating hyoid depression and lateral expansion of the buccal cavity. Onset of SH relengthening and onset of lower jaw elevation were simultaneous, as were the return of the SH to resting length and gape closure. Activation followed the onset of shortening by an average of 23 ms, although the muscle was active an average of 15 ms before the onset of rapid shortening. SH fascicles reached sustained shortening velocities averaging –2.5 fascicle lengths per second, and generally increased shortening velocity after peak gape. The shortening velocities measured in this study suggest that the SH actively shortens to generate power during suction feeding. This study is the first direct measurement of in vivo muscle function during suction feeding, the most common mechanism of prey capture among aquatic vertebrates.

High-energy phosphate metabolism during exercise and recovery in temperate and Antarctic scallops: an in vivo 31P-NMR study

In vivo (31)P-nuclear magnetic resonance (NMR) spectroscopy was used to measure the levels of ATP, phospho-l-arginine (PLA), and inorganic phosphate in the adductor muscle of the Antarctic scallop Adamussium colbecki and two temperate species, Aequipecten opercularis and Pecten maximus. Graded exercise regimes from light (one to two contractions) to exhausting (failing to respond to further stimulation) were imposed on animals of each species at its habitat temperature (0 degrees vs. 12 degrees C, respectively). NMR spectroscopy allowed noninvasive measurement of metabolite levels and intracellular pH at high time resolution (30-120-s intervals) during exercise and throughout the recovery period. Significant differences were shown between the magnitude and form of the metabolic response with increasing levels of exercise in each species. After exhaustion, short-term (first 15 min) muscle alkalosis was followed by acidosis of up to 0.2 pH units during the recovery process. Aequipecten opercularis had similar resting muscle PLA levels compared with either P. maximus or A. colbecki but used a fivefold greater proportion of this store per contraction and was able to perform only half as many claps (maximum of 24) as the other species before exhaustion. All species regenerated their PLA store at a similar rate despite different environmental temperatures. These findings argue for some cold compensation of muscular performance and recovery capacities in the Antarctic scallop, albeit at levels of performance similar to scallops with low activity lifestyles from temperate latitudes.

Comparative trends in shortening velocity and force production in skeletal muscles

Skeletal muscles are diverse in their properties, with specific contractile characteristics being matched to particular functions. In this study, published values of contractile properties for >130 diverse skeletal muscles were analyzed to detect common elements that account for variability in shortening velocity and force production. Body mass was found to be a significant predictor of shortening velocity in terrestrial and flying animals, with smaller animals possessing faster muscles. Although previous studies of terrestrial mammals revealed similar trends, the current study indicates that this pattern is more universal than previously appreciated. In contrast, shortening velocity in muscles used for swimming and nonlocomotory functions is not significantly affected by body size. Although force production is more uniform than shortening velocity, a significant correlation with shortening velocity was detected in muscles used for locomotion, with faster muscles tending to produce more force. Overall, the contractile properties of skeletal muscles are conserved among phylogenic groups, but have been significantly influenced by other factors such as body size and mode of locomotion.

Effects of longitudinal body position and swimming speed on mechanical power of deep red muscle from skipjack tuna (Katsuwonus pelamis)

The mechanical power output of deep, red muscle from skipjack tuna (Katsuwonus pelamis) was studied to investigate (i) whether this muscle generates maximum power during cruise swimming, (ii) how the differences in strain experienced by red muscle at different axial body locations affect its performance and (iii) how swimming speed affects muscle work and power output. Red muscle was isolated from approximately mid-way through the deep wedge that lies next to the backbone; anterior (0.44 fork lengths, ANT) and posterior (0.70 fork lengths, POST) samples were studied. Work and power were measured at 25°C using the work loop technique. Stimulus phases and durations and muscle strains (±5.5 % in ANT and ±8 % in POST locations) experienced during cruise swimming at different speeds were obtained from previous studies and used during work loop recordings. In addition, stimulus conditions that maximized work were determined. The stimulus durations and phases yielding maximum work decreased with increasing cycle frequency (analogous to tail-beat frequency), were the same at both axial locations and were almost identical to those used by the fish during swimming, indicating that the muscle produces near-maximal work under most conditions in swimming fish. While muscle in the posterior region undergoes larger strain and thus produces more mass-specific power than muscle in the anterior region, when the longitudinal distribution of red muscle mass is considered, the anterior muscles appear to contribute approximately 40 % more total power. Mechanical work per length cycle was maximal at a cycle frequency of 2–3 Hz, dropping to near zero at 15 Hz and by 20–50 % at 1 Hz. Mechanical power was maximal at a cycle frequency of 5 Hz, dropping to near zero at 15 Hz. These fish typically cruise with tail-beat frequencies of 2.8–5.2 Hz, frequencies at which power from cyclic contractions of deep red muscles was 75–100 % maximal. At any given frequency over this range, power using stimulation conditions recorded from swimming fish averaged 93.4±1.65 % at ANT locations and 88.6±2.08 % at POST locations (means ± s.e.m., N=3–6) of the maximum using optimized conditions. When cycle frequency was held constant (4 Hz) and strain amplitude was increased, work and power increased similarly in muscles from both sample sites; work and power increased 2.5-fold when strain was elevated from ±2 to ±5.5 %, but increased by only approximately 12 % when strain was raised further from ±5.5 to ±8 %. Taken together, these data suggest that red muscle fibres along the entire body are used in a similar fashion to produce near-maximal mechanical power for propulsion during normal cruise swimming. Modelling suggests that the tail-beat frequency at which power is maximal (5 Hz) is very close to that used at the predicted maximum aerobic swimming speed (5.8 Hz) in these fish.

Biomechanics of fast-start swimming in fish

Fast-starts are high acceleration manoeuvres used by fish. Fast-start escape responses can be initiated by a nervous reflex mediated by a Mauthner neurone and result in the simultaneous activation of muscle along one side of the body. Such starts have traditionally been termed 'C' starts where the fish initially bends to a tight C shape and then subsequently gains propulsion away from the stimulus. However, close examination reveals that propulsion occurs even during the initial phase of body bending. In order to generate this forward propulsion the fish must flex with a rearward travelling wave of body bending, and power generated by the muscles in the central region of the trunk must be delivered to the water through the caudal region of the body. Despite simultaneous muscle activation along the length of the fish, a wave of body bending can result from the interaction of the muscle torque acting to bend the fish and the inertia of the body and water acting to resist this bending. The Mauthner neurone causes the muscle along one side of the fish to be activated immediately prior to shortening and so there is no difference in timing between muscle activation and onset of shortening for this initial contraction along the whole length of the body. Although the fish flexes to tighter curvatures towards its caudal region, the white muscle strain is reduced in this region due to the effect of the geometry of the body and muscle. The myotomal muscle generates greater mass-specific power outputs in the central region of the fish, and greater stresses towards the caudal region and this difference in muscle function can be entirely explained by the change in muscle strain. This change in muscle function enables the high muscle powers to be delivered to the water through the caudal region of the fish where it will cause the fast-start acceleration.

Spatial variation in fast muscle function of the rainbow troutOncorhynchus mykissduring fast-starts and sprinting

Fish fast-starts and sprints are rapid kinematic events powered by the lateral myotomal musculature. A distinction can be made between fast-starts and sprint-swimming activity. Fast-starts are kinematic events involving rapid, asymmetrical movements. Sprints involve a series of symmetrical, high-frequency tailbeats that are kinematically similar to lower-frequency, sustained swimming. The patterns of muscle recruitment and strain associated with these swimming behaviours were determined using electromyography and sonomicrometry. Axial patterns of fast muscle recruitment during sprints were similar to those in slow muscle in that the duration of electromyograhic (EMG) activity decreased in a rostro-caudal direction. There was also an axial shift in activity relative to the strain cycle so that activity occurred relatively earlier in the caudal region. This may result in caudal muscle performing a greater proportion of negative work and acting as a power transmitter as well as a power producer. The threshold tailbeat frequency for recruitment of fast muscle differed with location in the myotome. Superficial muscle fibres were recruited at lower tailbeat frequencies and shortening velocities than those deeper in the musculature. During sprints, fast muscle strain ranged from ±3.4%l0 (where l0 is muscle resting length) at 0.35FL (where FL is fork length) to ±6.3%l0 at 0.65FL. Fast-starts involved a prestretch of up to 2.5%l0 followed by shortening of up to 11.3%l0. Stage 1 EMG activity began simultaneously, during muscle lengthening, at all axial locations. Stage 2 EMG activity associated with the major contralateral contraction also commenced during lengthening and proceeded along the body as a wave. Onset of muscle activity during lengthening may enhance muscle power output.

Pectoralis muscle performance during ascending and slow level flight in mallards (Anas platyrhynchos)

In vivo measurements of pectoralis muscle length change and force production were obtained using sonomicrometry and delto-pectoral bone strain recordings during ascending and slow level flight in mallards (Anas platyrhynchos). These measurements provide a description of the force/length properties of the pectoralis under dynamic conditions during two discrete flight behaviors and allow an examination of the effects of differences in body size and morphology on pectoralis performance by comparing the results with those of a recent similar study of slow level flight in pigeons (Columbia livia). In the present study, the mallard pectoralis showed a distinct pattern of active lengthening during the upstroke. This probably enhances the rate of force generation and the magnitude of the force generated and, thus, the amount of work and power produced during the downstroke. The power output of the pectoralis averaged 17.0 W kg(−)(1)body mass (131 W kg(−)(1)muscle mass) during slow level flight (3 m s(−)(1)) and 23.3 W kg(−)(1)body mass (174 W kg(−)(1)muscle mass) during ascending flight. This increase in power was achieved principally via an increase in muscle strain (29 % versus 36 %), rather than an increase in peak force (107 N versus 113 N) or cycle frequency (8.4 Hz versus 8.9 Hz). Body-mass-specific power output of mallards during slow level flight (17.0 W kg(−)(1)), measured in terms of pectoralis mechanical power, was similar to that measured recently in pigeons (16.1 W kg(−)(1)). Mallards compensate for their greater body mass and proportionately smaller wing area and pectoralis muscle volume by operating with a high myofibrillar stress to elevate mechanical power output.

Characterisation of red and white muscle myosin heavy chain gene coding sequences from antarctic and tropical fish

To understand molecular adaptation for locomotion at different environmental temperatures, we have studied the myosin heavy chain genes as these encode the molecular motors involved. For this purpose, cDNA libraries from white (fast) and red (slow) myotomal muscle of an Antarctic and a tropical fish were constructed and from these different myosin heavy chain cDNAs were isolated. Northern and in situ hybridisation confirmed in which type of muscle these isoform genes are expressed. The cDNAs were sequenced and the structure of the ATPase sites compared. There was a marked similarity between the tropical fast myosin and the Antarctic slow myosin in the loop 1 region, which has similar amino acid side chains, charge distribution and conformation. These findings help to explain why the myofibrils isolated from white muscle of tropical fish show a lower specific ATPase activity than the white muscle of Antarctic fish but a similar activity to the Antarctic red (slow) muscle. It also provides insight into the way molecular motors in Antarctic fish have evolved to produce more power and thus ensure effective swimming at near zero temperatures by the substitution or addition of a few residues in strategic regions, which include the ATPase site.

Energy-minimizing choices of muscles and patterns of movement

Prilutsky (1999, target paper) reports that Crowninshield and Brand's (1981) criterion, minimization of the sum of the cubes of muscle stresses, works well as a predictor of the division of labor between muscles, for various tasks. However, no direct benefit from minimizing this particular sum is apparent, and it seems likely that it is merely a correlate of the criterion that actually drives muscle choice. In many tasks, there would be a clear, direct benefit from minimizing metabolic energy costs, as Prilutsky (1999) points out. Alexander (1997a, 1997b) and Minetti and Alexander (1997) have shown how the metabolic energy costs of muscle contraction can be estimated, and used to predict optimum muscle properties or optimal patterns of movement. This article explores the feasibility of using the same approach to predict optimum division of labor between one- and two-joint muscles.

Muscle dynamics in skipjack tuna: timing of red muscle shortening in relation to activation and body curvature during steady swimming

Cyclic length changes in the internal red muscle of skipjack tuna (Katsuwonus pelamis) were measured using sonomicrometry while the fish swam in a water tunnel at steady speeds of 1.1-2.3 L s(−)(1), where L is fork length. These data were coupled with simultaneous electromyographic (EMG) recordings. The onset of EMG activity occurred at virtually the same phase of the strain cycle for muscle at axial locations between approximately 0.4L and 0.74L, where the majority of the internal red muscle is located. Furthermore, EMG activity always began during muscle lengthening, 40–50 prior to peak length, suggesting that force enhancement by stretching and net positive work probably occur in red muscle all along the body. Our results support the idea that positive contractile power is derived from all the aerobic swimming muscle in tunas, while force transmission is provided primarily by connective tissue structures, such as skin and tendons, rather than by muscles performing negative work. We also compared measured muscle length changes with midline curvature (as a potential index of muscle strain) calculated from synchronised video image analysis. Unlike contraction of the superficial red muscle in other fish, the shortening of internal red muscle in skipjack tuna substantially lags behind changes in the local midline curvature. The temporal separation of red muscle shortening and local curvature is so pronounced that, in the mid-body region, muscle shortening at each location is synchronous with midline curvature at locations that are 7–8 cm (i.e. 8–10 vertebral segments) more posterior. These results suggest that contraction of the internal red muscle causes deformation of the body at more posterior locations, rather than locally. This situation represents a unique departure from the model of a homogeneous bending beam, which describes red muscle strain in other fish during steady swimming, but is consistent with the idea that tunas produce thrust by motion of the caudal fin rather than by undulation of segments along the body.

White muscle strain in the common carp and red to white muscle gearing ratios in fish

White muscle strains were recorded using sonomicrometry techniques for 70 fast-starts in the common carp Cyprinus carpio L. High-speed cine images were recorded simultaneously for 54 of these starts, and muscle strain was calculated independently from the digitized outlines of the fish. Sonomicrometry measurements of superficial muscle strain were not significantly different from the strain as calculated from the theory of simple bending of a homogeneous material: superficial muscle strain thus varied with chordwise distance from the spine. However, white muscle strain across a transverse section of the myotome shows less variation with chordwise position than would be expected from simple bending theory. Muscle strains measured using sonomicrometry thus do not necessarily represent the more uniform strain predicted for the whole section of the fish. White muscle strain can be accurately predicted from the spine curvatures as measured from the cine images if the gearing ratio between the red and white muscle fibres is known. A model for calculating the gearing ratio from the helical muscle fibre geometry was re-evaluated using current data for the kinematics of fast-starting C. carpio. This model predicted a mean gearing ratio of 2.8 for these fast-starts. A quicker, alternative approach to estimating gearing ratio from the position of the centroid of white fibre area is proposed and results in ratios similar to those calculated from the model of helical geometry. White muscle strains in fish can thus be estimated from measurements of spine curvature and muscle distribution alone.

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.

Studies of evolutionary temperature adaptation: muscle function and locomotor performance in Antarctic fish

1. Studies of evolutionary temperature adaptation of muscle and locomotor performance in fish are reviewed with a focus on the Antarctic fauna living at subzero temperatures. 2. Only limited data are available to compare the sustained and burst swimming kinematics and performance of Antarctic, temperate and tropical species. Available data indicate that low temperatures limit maximum swimming performance and this is especially evident in fish larvae. 3. In a recent study, muscle performance in the Antarctic rock cod Notothenia coriiceps at 0 degree C was found to be sufficient to produce maximum velocities during burst swimming that were similar to those seen in the sculpin Myoxocephalus scorpius at 10 degrees C, indicating temperature compensation of muscle and locomotor performance in the Antarctic fish. However, at 15 degrees C, sculpin produce maximum swimming velocities greater than N. coriiceps at 0 degree C. 4. It is recommended that strict hypothesis-driven investigations using ecologically relevant measures of performance are undertaken to study temperature adaptation in Antarctic fish. Recent detailed phylogenetic analyses of the Antarctic fish fauna and their temperate relatives will allow a stronger experimental approach by helping to separate what is due to adaptation to the cold and what is due to phylogeny alone.