Activation patterns and length changes in hindlimb muscles of the bullfrog Rana catesbeiana during jumping

The effects of temperature on elastic energy storage and release in a system with a dynamic mechanical advantage latch

Changes in temperature alter muscle kinetics and in turn affect whole-organism performance. Some organisms use the elastic recoil of biological springs, structures which are far less temperature sensitive, to power thermally robust movements. For jumping frogs, the use of elastic energy in tendons is facilitated through a geometric latching mechanism that operates through dynamic changes in the mechanical advantage (MA) of the hindlimb. Despite the well-documented use of elastic energy storage, frog jumping is a locomotor behavior that is significantly affected by changes in temperature. Here, we used an in vitro muscle preparation interacting in real time with an in silico model of a legged jumper to understand how changes in temperature affect the flow of energy in a system using a MA latch. We used the plantaris longus muscle-tendon unit (MTU) to power a virtual limb with changing MA and a mass being accelerated through a real-time feedback controller. We quantified the amount of energy stored in and recovered from elastic structures and the additional contribution of direct muscle work after unlatching. We found that temperature altered the duration of the energy loading and recovery phase of the in vitro/in silico experiments. We found that the early phase of loading was insensitive to changes in temperature. However, an increase in temperature did increase the rate of force development, which in turn allowed for increased energy storage in the second phase of loading. We also found that the contribution of direct muscle work after unlatching was substantial and increased significantly with temperature. Our results show that the thermal robustness achieved by an elastic mechanism depends strongly on the nature of the latch that mediates energy flow, and that the relative contribution of elastic and direct muscle energy likely shapes the thermal sensitivity of locomotor systems.

The aero body righting of frog Rana rugulosus via hindleg swings

Frogs can keep an excellent aerial balance for landing and achieve consecutive jumps reliably. A safe landing requires an accurate body righting in the air. However, there is no systematic study on how the frogs adjust the aerial postures and body attitudes after jumping. The stretched long hindlegs swung quickly in the aerial phase, which revealed a clear relationship with the body attitudes. This study aimed to verify the function of frogs' hindlegs on aero body righting in the air. We captured the motions of both hindlegs and found the hindlegs adopted two movement modes, the bilateral parallel, and separated swings. The hindleg-induced torques by the two movements were negatively correlated with the body's angular accelerations on pitch and roll, respectively. Moreover, an analytical model was derived based on the conservation of angular momentum and verified by the dynamic simulations. Thus, we confirmed that the hindlegs are the dominant mechanism in aerial pitch and roll controls. We anticipate our achievements to inspire the design of air-righting tools.

Muscle preactivation and the limits of muscle power output during jumping in the Cuban tree frog Osteopilus septentrionalis

Previous studies of jumping in frogs have found power outputs in excess of what is possible from direct application of muscle power and concluded that jumping requires the storage and release of elastic strain energy. Of course, the muscles must produce the work required and their power output should be consistent with known muscle properties if the total duration of muscle activity is known. Using the Cuban tree frog, Osteopilus septentrionalis, I measured jumping performance from kinematics and used EMG measurements of three major jumping muscles to determine the duration of muscle activity. Using the total mass of all the hindlimb muscles, muscle mass-specific work output up to 60 J kg-1 was recorded. Distributed over the duration of the jump, both average and peak muscle mass-specific power output increased approximately linearly with the work done, reaching values of over 750 and 2000 W kg-1, respectively. However, the muscles were activated before the jump started. Both preactivation duration and EMG amplitude increased with increasing amounts of work performed. Assuming the muscles could produce work from EMG onset until toe-off, the average muscle mass-specific power over this longer interval also increased with work done, but only up to a work output of 36 J kg-1. The mean power above this value of work was 281 W kg-1, which is approximately 65% of the estimated maximum isotonic power. Several reasons are put forward for suggesting this power output, although within the known properties of the muscles, is nevertheless an impressive achievement.

Hind limb muscles influence the architectural properties of long bones in frogs

The Mechanostat Theory states that osteocytes sense both the intensity and directionality of the strains induced by mechanical usage and modulate the bone design accordingly. In long bones, this process may adapt anterior-posterior and lateral-medial strength to their mechanical environment showing regional specificity. Anuran species are ideal for analyzing the muscle-bone relationships related to the different mechanical stresses induced by their many locomotor modes and habitat uses. This work aimed to explore the relationships between indicators of the force of the most relevant muscles to locomotion and the mechanical properties of femur and tibia fibula in preserved samples of three anuran species with different habitat use (aquatic, arboreal) and locomotion modes (swimmer, jumper, walker/climber). For that purpose, we measured the anatomical cross-sectional area of each dissected muscle and correlated it with the moments of inertia and bone strength indices. Significant, species-specific covariations between muscle and bone parameters were observed. Pseudis platensis, the aquatic swimmer, showed the largest muscles, followed by Boana faber, the jumper and Phyllomedusa sauvagii, the walker/climber. As we expected, bigger muscles correlate with bone parameters in all the species. Nevertheless, smaller muscles also play an important role in bone design. In aquatic species, muscle interaction enhances mostly lateral bending strength throughout the femur and lateral and antero-posterior bending strength in the tibia fibula. In the jumper species, muscles affected the femur and tibia fibula mostly in anterior-posterior bending. In the walker/climber species, responses involving both antero-posterior and lateral bending strengths were observed in the femur and tibia fibula. These results show that bones will be more or less resistant to lateral and antero-posterior bending according to the different mechanical challenges of locomotion in aquatic vs. arboreal habitats. This study provides new evidence of the muscle-bone relationships in three frog species associated with their different locomotion and habitat uses, highlighting the crucial role of muscle in determining the architectural properties of bones.

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.

Why do Large Animals Never Actuate Their Jumps with Latch-Mediated Springs? Because They can Jump Higher Without Them

As animals get smaller, their ability to generate usable work from muscle contraction is decreased by the muscle's force-velocity properties, thereby reducing their effective jump height. Very small animals use a spring-actuated system, which prevents velocity effects from reducing available energy. Since force-velocity properties reduce the usable work in even larger animals, why don't larger animals use spring-actuated jumping systems as well? We will show that muscle length-tension properties limit spring-actuated systems to generating a maximum one-third of the possible work that a muscle could produce-greatly restricting the jumping height of spring-actuated jumpers. Thus a spring-actuated jumping animal has a jumping height that is one-third of the maximum possible jump height achievable were 100% of the possible muscle work available. Larger animals, which could theoretically use all of the available muscle energy, have a maximum jumping height that asymptotically approaches a value that is about three times higher than that of spring-actuated jumpers. Furthermore, a size related "crossover point" is evident for these two jumping mechanisms: animals smaller than this point can jump higher with a spring-actuated mechanism, while animals larger than this point can jump higher with a muscle-actuated mechanism. We demonstrate how this limit on energy storage is a consequence of the interaction between length-tension properties of muscles and spring stiffness. We indicate where this crossover point occurs based on modeling and then use jumping data from the literature to validate that larger jumping animals generate greater jump heights with muscle-actuated systems than spring-actuated systems.

Beyond power amplification: latch-mediated spring actuation is an emerging framework for the study of diverse elastic systems

Rapid biological movements, such as the extraordinary strikes of mantis shrimp and accelerations of jumping insects, have captivated generations of scientists and engineers. These organisms store energy in elastic structures (e.g. springs) and then rapidly release it using latches, such that movement is driven by the rapid conversion of stored elastic to kinetic energy using springs, with the dynamics of this conversion mediated by latches. Initially drawn to these systems by an interest in the muscle power limits of small jumping insects, biologists established the idea of power amplification, which refers both to a measurement technique and to a conceptual framework defined by the mechanical power output of a system exceeding muscle limits. However, the field of fast elastically driven movements has expanded to encompass diverse biological and synthetic systems that do not have muscles - such as the surface tension catapults of fungal spores and launches of plant seeds. Furthermore, while latches have been recognized as an essential part of many elastic systems, their role in mediating the storage and release of elastic energy from the spring is only now being elucidated. Here, we critically examine the metrics and concepts of power amplification and encourage a framework centered on latch-mediated spring actuation (LaMSA). We emphasize approaches and metrics of LaMSA systems that will forge a pathway toward a principled, interdisciplinary field.

Work loop dynamics of the pigeon (Columba livia) humerotriceps demonstrate potentially diverse roles for active wing morphing

Control of wing shape is believed to be a key feature that allows most birds to produce aerodynamically efficient flight behaviors and high maneuverability. Anatomical organization of intrinsic wing muscles suggests specific roles for the different motor elements in wing shape modulation, but testing these hypothesized functions requires challenging measurements of muscle activation and strain patterns, and force dynamics. The wing muscles that have been best characterized during flight are the elbow muscles of the pigeon (Columba livia). In vivo studies during different flight modes revealed variation in strain profile, activation timing and duration, and contractile cycle frequency of the humerotriceps, suggesting that this muscle may alter wing shape in diverse ways. To examine the multifunction potential of the humerotriceps, we developed an in situ work loop approach to measure how activation duration and contractile cycle frequency affected muscle work and power across the full range of activation onset times. The humerotriceps produced predominantly net negative power, likely due to relatively long stimulus durations, indicating that it absorbs work, but the work loop shapes also suggest varying degrees of elastic energy storage and release. The humerotriceps consistently exhibited positive and negative instantaneous power within a single contractile cycle, across all treatments. When combined with previous in vivo studies, our results indicate that both within and across contractile cycles, the humerotriceps can dynamically shift among roles of actuator, brake, and stiff or compliant spring, based on activation properties that vary with flight mode.

Enhancement of muscle and locomotor performance by a series compliance: A mechanistic simulation study

The objective was to better understand how a series compliance alters contraction kinetics and power output of muscle to enhance the work done on a load. A mathematical model was created in which a gravitational point load was connected via a linear spring to a muscle (based on the contractile properties of the sartorius of leopard frogs, Rana pipiens). The model explored the effects of load mass, tendon compliance, and delay between onset of contraction and release of the load (catch) on lift height and power output as measures of performance. Series compliance resulted in increased lift height over a relatively narrow range of compliances, and the effect was quite modest without an imposed catch mechanism unless the load was unrealistically small. Peak power of the muscle-tendon complex could be augmented up to four times that produced with a muscle alone, however, lift height was not predicted by peak power. Rather, lift height was improved as a result of the compliance synchronizing the time courses of muscle force and shortening velocity, in particular by stabilizing shortening velocity such that muscle power was sustained rather than rising and immediately falling. With a catch mechanism, enhanced performance resulted largely from energy storage in the compliance during the period of catch, rather than increased time for muscle activation before movement commenced. However, series compliance introduced a trade-off between work done before versus after release of the catch. Thus, the ability of tendons to enhance locomotor performance (i.e. increase the work done by muscle) appears dependent not only on their established role in storing energy and increasing power, but also on their ability to modulate the kinetics of muscle contraction such that power is sustained over more of the contraction, and maximizing the balance of work done before versus after release of a catch.

Neuromuscular mechanisms of an elaborate wing display in the golden-collared manakin (Manacus vitellinus)

Many species perform elaborate physical displays to court mates and compete with rivals, but the biomechanical mechanisms underlying such behavior are poorly understood. We address this issue by studying the neuromuscular origins of display behavior in a small tropical passerine bird, the golden-collared manakin (Manacus vitellinus). Males of this species court females by dancing around the forest floor and rapidly snapping their wings together above their back. Using radio-telemetry, we collected electromyographic (EMG) recordings from the three main muscles that control avian forelimb movement, and found how these different muscles are activated to generate various aspects of display behavior. The muscle that raises the wing (supracoracoideus, SC) and the primary muscle that retracts the wing (scapulohumeralis caudalis, SH) were activated during the wing-snap, whereas the pectoralis (PEC), the main wing depressor, was not. SC activation began before wing elevation commenced, with further activation occurring gradually. By contrast, SH activation was swift, starting soon after wing elevation and peaking shortly after the snap. The intensity of this SH activation was comparable to that which occurs during flapping, whereas the SC activation was much lower. Thus, light activation of the SC likely helps position the wings above the back, so that quick, robust SH activation can drive these appendages together to generate the firecracker-like snap sonation. This is one of the first looks at the neuromuscular mechanisms that underlie the actuation of a dynamic courtship display, and it demonstrates that even complex, whole-body display movements can be studied with transmitter-aided EMG techniques.

The diversity and evolution of locomotor muscle properties in anurans

Anuran jumping is a model system for linking muscle physiology to organismal performance. However, anuran species display substantial diversity in their locomotion, with some species performing powerful leaps from riverbanks or tree branches, while other species move predominantly via swimming, short hops or even diagonal-sequence gaits. Furthermore, many anurans with similar locomotion and morphology are actually convergent (e.g. multiple independent evolutions of 'tree frogs'), while closely related species may differ drastically, as with the walking toad (Melanophryniscus stelzneri) and bullfrog-like river toad (Phrynoides aspera) compared with other Bufonid toads. These multiple independent evolutionary changes in locomotion allow us to test the hypothesis that evolutionary increases in locomotor performance will be linked to the evolution of faster, high-power muscles. I tested the jumping, swimming and walking (when applicable) performance of 14 species of anurans and one salamander, followed by measurement of the contractile properties of the semimembranosus and plantaris longus muscles and anatomical measurements, using phylogenetic comparative methods. I found that increased jumping performance correlated to muscle contractile properties associated with muscle speed (e.g. time to peak tetanus, maximum shortening speed, peak isotonic power), and was tightly linked to relevant anatomical traits (e.g. leg length, muscle mass). Swimming performance was not correlated to jumping, and was correlated with fewer anatomical and muscular variables. Thus, muscle properties evolve along with changes in anatomy to produce differences in overall locomotor performance.

Chimpanzee super strength and human skeletal muscle evolution

Since at least the 1920s, it has been reported that common chimpanzees (Pan troglodytes) differ from humans in being capable of exceptional feats of "super strength," both in the wild and in captive environments. A mix of anecdotal and more controlled studies provides some support for this view; however, a critical review of available data suggests that chimpanzee mass-specific muscular performance is a more modest 1.5 times greater than humans on average. Hypotheses for the muscular basis of this performance differential have included greater isometric force-generating capabilities, faster maximum shortening velocities, and/or a difference in myosin heavy chain (MHC) isoform content in chimpanzee relative to human skeletal muscle. Here, we show that chimpanzee muscle is similar to human muscle in its single-fiber contractile properties, but exhibits a much higher fraction of MHC II isoforms. Unlike humans, chimpanzee muscle is composed of ∼67% fast-twitch fibers (MHC IIa+IId). Computer simulations of species-specific whole-muscle models indicate that maximum dynamic force and power output is 1.35 times higher in a chimpanzee muscle than a human muscle of similar size. Thus, the superior mass-specific muscular performance of chimpanzees does not stem from differences in isometric force-generating capabilities or maximum shortening velocities-as has long been suggested-but rather is due in part to differences in MHC isoform content and fiber length. We propose that the hominin lineage experienced a decline in maximum dynamic force and power output during the past 7-8 million years in response to selection for repetitive, low-cost contractile behavior.

Operating length and velocity of human M. vastus lateralis fascicles during vertical jumping

Humans achieve greater jump height during a counter-movement jump (CMJ) than in a squat jump (SJ). However, the crucial difference is the mean mechanical power output during the propulsion phase, which could be determined by intrinsic neuro-muscular mechanisms for power production. We measured M. vastus lateralis (VL) fascicle length changes and activation patterns and assessed the force-length, force-velocity and power-velocity potentials during the jumps. Compared with the SJ, the VL fascicles operated on a more favourable portion of the force-length curve (7% greater force potential, i.e. fraction of VL maximum force according to the force-length relationship) and more disadvantageous portion of the force-velocity curve (11% lower force potential, i.e. fraction of VL maximum force according to the force-velocity relationship) in the CMJ, indicating a reciprocal effect of force-length and force-velocity potentials for force generation. The higher muscle activation (15%) could therefore explain the moderately greater jump height (5%) in the CMJ. The mean fascicle-shortening velocity in the CMJ was closer to the plateau of the power-velocity curve, which resulted in a greater (15%) power-velocity potential (i.e. fraction of VL maximum power according to the power-velocity relationship). Our findings provide evidence for a cumulative effect of three different mechanisms-i.e. greater force-length potential, greater power-velocity potential and greater muscle activity-for an advantaged power production in the CMJ contributing to the marked difference in mean mechanical power (56%) compared with SJ.

In vivo muscle force and muscle power during near-maximal frog jumps

Frogs' outstanding jumping ability has been associated with a high power output from the leg extensor muscles. Two main theories have emerged to explain the high power output of the frog leg extensor muscles, either (i) the contractile conditions of all leg extensor muscles are optimized in terms of muscle length and speed of shortening, or (ii) maximal power is achieved through a dynamic catch mechanism that uncouples fibre shortening from the corresponding muscle-tendon unit shortening. As in vivo instantaneous power generation in frog hind limb muscles during jumping has never been measured directly, it is hard to distinguish between the two theories. In this study, we determined the instantaneous variable power output of the plantaris longus (PL) of Lithobates pipiens (also known as Rana pipiens), by directly measuring the in vivo force, length change, and speed of muscle and fibre shortening in near maximal jumps. Fifteen near maximal jumps (> 50cm in horizontal distance) were analyzed. High instantaneous peak power in PL (536 ± 47 W/kg) was achieved by optimizing the contractile conditions in terms of the force-length but not the force-velocity relationship, and by a dynamic catch mechanism that decouples fascicle shortening from muscle-tendon unit shortening. We also found that the extra-muscular free tendon likely amplifies the peak power output of the PL by modulating fascicle shortening length and shortening velocity for optimum power output, but not by releasing stored energy through recoiling as the tendon only started recoiling after peak PL power had been achieved.

Inverse dynamic modelling of jumping in the red-legged running frog, Kassina maculata

Although the red-legged running frog, Kassina maculata, is secondarily a walker/runner, it retains the capacity for multiple locomotor modes, including jumping at a wide range of angles (nearly 70 deg). Using simultaneous hind limb kinematics and single-foot ground reaction forces, we performed inverse dynamics analyses to calculate moment arms and torques about the hind limb joints during jumping at different angles in K. maculata. We show that forward thrust is generated primarily at the hip and ankle, while body elevation is primarily driven by the ankle. Steeper jumps are achieved by increased thrust at the hip and ankle and greater downward rotation of the distal limb segments. Because of its proximity to the GRF vector, knee posture appears to be important in controlling torque directions about this joint and, potentially, torque magnitudes at more distal joints. Other factors correlated with higher jump angles include increased body angle in the preparatory phase, faster joint openings and increased joint excursion, higher ventrally directed force, and greater acceleration and velocity. Finally, we demonstrate that jumping performance in K. maculata does not appear to be compromised by presumed adaptation to walking/running. Our results provide new insights into how frogs engage in a wide range of locomotor behaviours and the multi-functionality of anuran limbs.

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.

Integrating gastrocnemius force-length properties, in vivo activation, and operating lengths reveals how Anolis deal with ecological challenges

A central question in biology is how animals successfully behave under complex natural conditions. Although changes in locomotor behaviour, motor control, and force production in relation to incline are commonly examined, a wide range of other factors, including a range of perch diameters, pervades arboreal habitats. Moving on different substrate diameters requires considerable alteration of body and limb posture, likely causing significant shifts in the lengths of the muscle-tendon units powering locomotion. Thus, how substrate shape impacts in vivo muscle function remains an important, but neglected question in ecophysiology. Here, we used high-speed videography, electromyography, in situ contractile experiments, and morphology to examine gastrocnemius muscle function during arboreal locomotion in the Cuban knight anole, (Anolis equestris). The gastrocnemius contributes more to the propulsive effort on broad surfaces than on narrow surfaces. Surprisingly, substrate inclination affected the relationship between the maximum potential force and fibre recruitment; the trade-off that was present between these variables on horizontal conditions became a positive relationship on inclined surfaces. Finally, the biarticular nature of the gastrocnemius allows it to generate force isometrically, regardless of condition, despite the fact that the tendons are incapable of stretching during cyclical locomotion. Our results emphasize the importance of considering ecology and muscle function together, and the necessity of examining both mechanical and physiological properties of muscles to understand how animals move in their environment.

Jumping performance in the highly aquatic frog, Xenopus tropicalis: sex-specific relationships between morphology and performance

Frogs are characterized by a morphology that has been suggested to be related to their unique jumping specialization. Yet, the functional demands associated with jumping and swimming may not be that different as suggested by studies with semi-aquatic frogs. Here, we explore whether features previously identified as indicative of good burst swimming performance also predict jumping performance in a highly aquatic frog, Xenopus tropicalis. Moreover, we test whether the morphological determinants of jumping performance are similar in the two sexes and whether jumping performance differs in the two sexes. Finally we test whether jumping capacity is positively associated with burst swimming and terrestrial endurance capacity in both sexes. Our results show sex-specific differences in jumping performance when correcting for differences in body size. Moreover, the features determining jumping performance are different in the two sexes. Finally, the relationships between different performance traits are sex-dependent as well with females, but not males, showing a trade-off between peak jumping force and the time jumped to exhaustion. This suggests that different selective pressures operate on the two sexes, with females being subjected to constraints on locomotion due to their greater body mass and investment in reproductive capacity. In contrast, males appear to invest more in locomotor capacity giving them higher performance for a given body size compared to females.

Do all frogs swim alike? The effect of ecological specialization on swimming kinematics in frogs

Frog locomotion has attracted wide scientific interest because of the unusual and derived morphology of the frog pelvic girdle and hind limb. Previous authors have suggested that the design of the frog locomotor system evolved towards a specialized jumping morphology early in the radiation of the group. However, data on locomotion in frogs are biased towards a few groups and most of the ecological and functional diversity remains unexplored. Here, we examine the kinematics of swimming in eight species of frog with different ecologies. We use cineradiography to quantify movements of skeletal elements from the entire appendicular skeleton. Our results show that species with different ecologies do differ in the kinematics of swimming, with the speed of limb extension and especially the kinematics of the midfoot being different. Our results moreover suggest that this is not a phylogenetic effect because species from different clades with similar ecologies converge on the same swimming kinematics. We conclude that it is important to analyze frog locomotion in a broader ecological and evolutionary context if one is to understand the evolutionary origins of this behavior.

Chasing maximal performance: a cautionary tale from the celebrated jumping frogs of Calaveras County

Maximal performance is an essential metric for understanding many aspects of an organism's biology, but it can be difficult to determine because a measured maximum may reflect only a peak level of effort, not a physiological limit. We used a unique opportunity provided by a frog jumping contest to evaluate the validity of existing laboratory estimates of maximum jumping performance in bullfrogs (Rana catesbeiana). We recorded video of 3124 bullfrog jumps over the course of the 4-day contest at the Calaveras County Jumping Frog Jubilee, and determined jump distance from these images and a calibration of the jump arena. Frogs were divided into two groups: 'rental' frogs collected by fair organizers and jumped by the general public, and frogs collected and jumped by experienced, 'professional' teams. A total of 58% of recorded jumps surpassed the maximum jump distance in the literature (1.295 m), and the longest jump was 2.2 m. Compared with rental frogs, professionally jumped frogs jumped farther, and the distribution of jump distances for this group was skewed towards long jumps. Calculated muscular work, historical records and the skewed distribution of jump distances all suggest that the longest jumps represent the true performance limit for this species. Using resampling, we estimated the probability of observing a given jump distance for various sample sizes, showing that large sample sizes are required to detect rare maximal jumps. These results show the importance of sample size, animal motivation and physiological conditions for accurate maximal performance estimates.

Locomotor function shapes the passive mechanical properties and operating lengths of muscle

Locomotor muscles often perform diverse roles, functioning as motors that produce mechanical energy, struts that produce force and brakes that dissipate mechanical energy. In many vertebrate muscles, these functions are not mutually exclusive and a single muscle often performs a range of mechanically diverse tasks. This functional diversity has obscured the relationship between a muscle's locomotor function and its mechanical properties. I use hopping in toads as a model system for comparing muscles that primarily produce mechanical energy with muscles that primarily dissipate mechanical energy. During hopping, hindlimb muscles undergo active shortening to produce mechanical energy and propel the animal into the air, whereas the forelimb muscles undergo active lengthening to dissipate mechanical energy during landing. Muscles performing distinct mechanical functions operate on different regions of the force-length curve. These findings suggest that a muscle's operating length may be shaped by potential trade-offs between force production and sarcomere stability. In addition, the passive force-length properties of hindlimb and forelimb muscles vary, suggesting that passive stiffness functions to restrict the muscle's operating length in vivo. These results inform our understanding of vertebrate muscle variation by providing a clear link between a muscle's locomotor function and its mechanical properties.

Context-dependent changes in motor control and kinematics during locomotion: modulation and decoupling

Successful locomotion through complex, heterogeneous environments requires the muscles that power locomotion to function effectively under a wide variety of conditions. Although considerable data exist on how animals modulate both kinematics and motor pattern when confronted with orientation (i.e. incline) demands, little is known about the modulation of muscle function in response to changes in structural demands like substrate diameter, compliance and texture. Here, we used high-speed videography and electromyography to examine how substrate incline and perch diameter affected the kinematics and muscle function of both the forelimb and hindlimb in the green anole (Anolis carolinensis). Surprisingly, we found a decoupling of the modulation of kinematics and motor activity, with kinematics being more affected by perch diameter than by incline, and muscle function being more affected by incline than by perch diameter. Also, muscle activity was most stereotyped on the broad, vertical condition, suggesting that, despite being classified as a trunk-crown ecomorph, this species may prefer trunks. These data emphasize the complex interactions between the processes that underlie animal movement and the importance of examining muscle function when considering both the evolution of locomotion and the impacts of ecology on function.

Warmer is better: thermal sensitivity of both maximal and sustained power output in the iliotibialis muscle isolated from adult Xenopus tropicalis

Environmental temperature varies temporally and spatially and may consequently affect organismal function in complex ways. Effects of temperature are often most pertinent on locomotor performance traits of ectothermic animals. Given the importance of locomotion to mobility and dispersion, variability in temperature may therefore affect the current and future distribution of species. Many previous studies have demonstrated that burst muscle performance changes with temperature. However, less is known about the effects of temperature on sustained skeletal muscle performance. The iliotibialis muscle was isolated from eight male Xenopus tropicalis individuals and subjected to in vitro isometric and work-loop studies at test temperatures of 15, 24, 30 and 32°C. Work-loop power output (average power per cycle) was maximised at each temperature by altering stimulation and strain parameters. A series of 10 work loops was also delivered at each test temperature to quantify endurance performance. Warmer test temperatures tended to increase twitch stress (force normalised to muscle cross-sectional area) and significantly increased tetanic stress. Increased temperature significantly reduced twitch and tetanus activation and relaxation times. Increased temperature also significantly increased both burst muscle power output (cycle average) and sustained (endurance) performance during work loop studies. The increase in burst power output between 15 and 24°C yielded a high Q10 value of 6.86. Recent studies have demonstrated that the negative effects of inorganic phosphate accumulation during prolonged skeletal muscle performance are reduced with increased temperature, possibly explaining the increases in endurance found with increased test temperature in the present study.

Differential segmental strain during active lengthening in a large biarticular thigh muscle during running

The iliotibialis lateralis pars postacetabularis (ILPO) is the largest muscle in the hindlimb of the guinea fowl and is thought to play an important role during the stance phase of running, both absorbing and producing work. Using sonomicrometry and electromyography, we examined whether the ILPO experiences differential strain between proximal, central and distal portions of the posterior fascicles. When the ILPO is being lengthened while active, the distal portion was found to lengthen significantly more than either the proximal or central portions of the muscle. Our data support the hypothesis that the distal segment lengthened farther and faster because it began activity at shorter sarcomere lengths on the ascending limb of the length-tension curve. Probably because of the self-stabilizing effects of operating on the ascending limb of the length-tension curve, all segments reached the end of lengthening and started shortening at the same sarcomere length. During shortening, this similarity in sarcomere length among the segments was maintained, as predicted from force-velocity effects, and shortening strain was similar in all segments. The differential active strain during active lengthening is thus ultimately determined by differences in strain during the passive portion of the cycle. The sarcomere lengths of all segments of the fascicles were similar at the end of active shortening, but after the passive portion of the cycle the distal segment was shorter. Differential strain in the segments during the passive portion of the cycle may be caused by differential joint excursions at the knee and hip acting on the ends of the muscle and being transmitted differentially by the passive visco-elastic properties of the muscle. Alternatively, the differential passive strain could be due to the action of active or passive muscles in the thigh that transmit force to the IPLO in shear. Based on basic sarcomere dynamics we predict that differential strain is more likely to occur in muscles undergoing active lengthening at the beginning of contraction than those undergoing only shortening.

Evidence for a vertebrate catapult: elastic energy storage in the plantaris tendon during frog jumping

Anuran jumping is one of the most powerful accelerations in vertebrate locomotion. Several species are hypothesized to use a catapult-like mechanism to store and rapidly release elastic energy, producing power outputs far beyond the capability of muscle. Most evidence for this mechanism comes from measurements of whole-body power output; the decoupling of joint motion and muscle shortening expected in a catapult-like mechanism has not been demonstrated. We used high-speed marker-based biplanar X-ray cinefluoroscopy to quantify plantaris muscle fascicle strain and ankle joint motion in frogs in order to test for two hallmarks of a catapult mechanism: (i) shortening of fascicles prior to joint movement (during tendon stretch), and (ii) rapid joint movement during the jump without rapid muscle-shortening (during tendon recoil). During all jumps, muscle fascicles shortened by an average of 7.8 per cent (54% of total strain) prior to joint movement, stretching the tendon. The subsequent period of initial joint movement and high joint angular acceleration occurred with minimal muscle fascicle length change, consistent with the recoil of the elastic tendon. These data support the plantaris longus tendon as a site of elastic energy storage during frog jumping, and demonstrate that catapult mechanisms may be employed even in sub-maximal jumps.

The evolution of jumping in frogs: morphological evidence for the basal anuran locomotor condition and the radiation of locomotor systems in crown group anurans

Our understanding of the evolution of frog locomotion follows from the work of Emerson in which anurans are proposed to possess one of three different iliosacral configurations: 1) a lateral-bending system found in walking and hopping frogs; 2) a fore-aft sliding mechanism found in several locomotor modes; and 3) a sagittal-hinge-type pelvis posited to be related to long-distance jumping performance. The most basal living (Ascaphus) and fossil (Prosalirus) frogs are described as sagittal-hinge pelvic types, and it has been proposed that long-distance jumping with a sagittal-hinge pelvis arose early in frog evolution. We revisited osteological traits of the pelvic region to conduct a phylogenetic analysis of the relationships between pelvic systems and locomotor modes in frogs. Using two of Emerson's diagnostic traits from the sacrum and ilium and two new traits from the urostyle, we resampled the taxa originally studied by Emerson and key paleotaxa and conducted an analysis of ancestral-character state evolution in relation to locomotor mode. We present a new pattern for the evolution of pelvic systems and locomotor modes in frogs. Character analysis shows that the lateral-bender, walker/hopper condition is both basal and generally conserved across the Anura. Long-distance jumping frogs do not appear until well within the Neobatrachia. The sagittal-hinge morphology is correlated with long-distance jumping in terrestrial frogs; however, it evolved convergently multiple times in crown group anurans with the same four pelvic traits described herein. Arboreal jumping has appeared in multiple crown lineages as well, but with divergent patterns of evolution involving each of the three pelvic types. The fore-aft slider morph appears independently in three different locomotor modes and, thus, is a more complex system than previously thought. Finally, it appears that the advent of a bicondylar sacro-urostylic articulation was originally related to providing axial rigidity to lateral-bending behaviors rather than sagittal bending.

Optimal workloop energetics of muscle-actuated systems: an impedance matching view

Integrative approaches to studying the coupled dynamics of skeletal muscles with their loads while under neural control have focused largely on questions pertaining to the postural and dynamical stability of animals and humans. Prior studies have focused on how the central nervous system actively modulates muscle mechanical impedance to generate and stabilize motion and posture. However, the question of whether muscle impedance properties can be neurally modulated to create favorable mechanical energetics, particularly in the context of periodic tasks, remains open. Through muscle stiffness tuning, we hypothesize that a pair of antagonist muscles acting against a common load may produce significantly more power synergistically than individually when impedance matching conditions are met between muscle and load. Since neurally modulated muscle stiffness contributes to the coupled muscle-load stiffness, we further anticipate that power-optimal oscillation frequencies will occur at frequencies greater than the natural frequency of the load. These hypotheses were evaluated computationally by applying optimal control methods to a bilinear muscle model, and also evaluated through in vitro measurements on frog Plantaris longus muscles acting individually and in pairs upon a mass-spring-damper load. We find a 7-fold increase in mechanical power when antagonist muscles act synergistically compared to individually at a frequency higher than the load natural frequency. These observed behaviors are interpreted in the context of resonance tuning and the engineering notion of impedance matching. These findings suggest that the central nervous system can adopt strategies to harness inherent muscle impedance in relation to external loads to attain favorable mechanical energetics.

Muscle performance during frog jumping: influence of elasticity on muscle operating lengths

A fundamental feature of vertebrate muscle is that maximal force can be generated only over a limited range of lengths. It has been proposed that locomotor muscles operate over this range of lengths in order to maximize force production during movement. However, locomotor behaviours like jumping may require muscles to shorten substantially in order to generate the mechanical work necessary to propel the body. Thus, the muscles that power jumping may need to shorten to lengths where force production is submaximal. Here we use direct measurements of muscle length in vivo and muscle force-length relationships in vitro to determine the operating lengths of the plantaris muscle in bullfrogs (Rana catesbeiana) during jumping. We find that the plantaris muscle operates primarily on the descending limb of the force-length curve, resting at long initial lengths (1.3 +/- 0.06 L(o)) before shortening to muscle's optimal length (1.03 +/- 0.05 L(o)). We also compare passive force-length curves from frogs with literature values for mammalian muscle, and demonstrate that frog muscles must be stretched to much longer lengths before generating passive force. The relatively compliant passive properties of frog muscles may be a critical feature of the system, because it allows muscles to operate at long lengths and improves muscles' capacity for force production during a jump.

Mechanical properties of the hindlimb bones of bullfrogs and cane toads in bending and torsion

When compared with most vertebrates, frogs use a novel style of jumping locomotion powered by the hindlimbs. Hindlimb bones of frogs must withstand the potentially erratic loads associated with such saltatory locomotion. To evaluate the load bearing capacity of anuran limb bones, we used three-point bending, torsion, and hardness tests to measure the mechanical properties of the femur and tibiofibula from adults of two species that use different jumping styles: explosively jumping bullfrogs (Rana (Lithobates) catesbeiana) and cyclically hopping cane toads (Bufo (Chaunus) marinus). Yield stress and strain values for R. catesbeiana and B. marinus hindlimb bones are within the range of values previously reported for other vertebrates. However, anuran hindlimb bones generally stand out as having higher yield stresses in bending than those of closely related, nonsaltatory salamanders, highlighting the importance of considering phylogenetic context in comparisons of bone functional capacity and adaptation. Stiffness values for both frog species tested were also high, which may facilitate efficient transmission of muscular forces while jumping. Elevated stiffness may also contribute to some discrepancies between determinations of bone properties via hardness versus bending tests. In comparisons between species, B. marinus bones showed significantly higher bending yield stresses than R. catesbeiana, whereas R. catesbeiana bones showed significantly higher torsional yield stresses than B. marinus. These differences may correlate with differences in jumping style and limb anatomy between ranid and bufonid frogs, suggesting that evolutionary changes in bone mechanical properties may help to accommodate new functional demands that emerge in lineages.

Pelvic and thigh musculature in frogs (Anura) and origin of anuran jumping locomotion

Comparative analysis of the anuran pelvic and thigh musculoskeletal system revealed that the thigh extensors, responsible for the initial phase of jump, the propulsive stroke in swimming and, if used asynchronously, also for walking, are least affected by the transformations observed between anurans and their temnospondyl ancestors (as reflected in contemporary caudates). The iliac shaft and urostyle, two of the most important anuran apomorphies, represent skeletal support for muscles that are mostly protractors of the femur or are important in attaining a crouching position, a necessary prerequisite for rapid escape. All of these muscles originate or insert on the iliac shaft. As the orientation of the pubis, ischium and ilium is the same in anurans, caudates and by inference also in their temnospondyl ancestors, it is probable that the pelvis was shifted from the sacral vertebra posteriorly along the reduced and stiffened tail (urostyle) by the elongation of the illiac shaft. Thus, the original vertical orientation of the ilium was maintained (which is also demonstrated by stable origins of the glutaeus maximus, iliofemoralis and iliofibularis on the tuber superius) and the shaft itself is a new structure. A review of functional analysis of anuran locomotion suggests some clear differences from that in caudates, suggesting that terrestrial jumping may have been a primary locomotor activity, from which other types of anuran locomotion are derived.

Distinct muscle fascicle length changes in feline medial gastrocnemius and soleus muscles during slope walking

On the basis of differences in physiology, e.g., histochemical properties and spindle density, and the structural design of the cat soleus (SO) and medial gastrocnemius (MG) muscles, we hypothesized that 1) fascicle length changes during overground walking would be both muscle and slope dependent, which would have implications for the muscles' force output as well as sensory function, and that 2) muscle-tendon unit (MTU) and fascicle length changes would be different, in which case MTU length could not be used as an indicator of muscle spindle strain. To test these hypotheses, we quantified muscle fascicle length changes and compared them with length changes of the whole MTU in the SO and MG during overground walking at various slopes (0, +/- 25, +/- 50, +75, and +100%). The SO and MG were surgically instrumented with sonomicrometry crystals and fine-wire electromyogram electrodes to measure changes in muscle fascicle length and muscle activity, respectively. MTU lengths were calculated using recorded ankle and knee joint angles and a geometric model of the hindlimb. The resultant joint moments were calculated using inverse dynamics analysis to infer muscle loading. It was found that although MTU length and velocity profiles of the SO and MG appeared similar, length changes and velocities of muscle fascicles were substantially different between the two muscles. Fascicle length changes of both SO and MG were significantly affected by slope intensity acting eccentrically in downslope walking (-25 to -50%) and concentrically in upslope walking (+25 to +100%). The differences in MTU and fascicle behaviors in both the SO and MG muscles during slope walking were explained by the three distinct features of these muscles: 1) the number of joints spanned, 2) the pennation angle, and 3) the in-series elastic component. It was further suggested that the potential role of length feedback from muscle spindles is both task and muscle dependent.

Scaling of the axial morphology and gap-bridging ability of the brown tree snake, Boiga irregularis

Networks of branches in arboreal environments create many functional challenges for animals, including traversing gaps between perches. Many snakes are arboreal and their elongate bodies are theoretically well suited for bridging gaps. However, only two studies have previously investigated gap bridging in snakes, and the effects of size are poorly understood. Thus, we videotaped and quantified maximal gap-bridging ability in a highly arboreal species of snake (Boiga irregularis), for which we were able to obtain a large range in snout–vent length (SVL=43–188 cm)and mass (10–1391 g). We expected smaller snakes to bridge relatively larger gaps than larger individuals because of their proportionately higher ratio of muscle cross-sectional area to mass. The maximal length of the gaps spanned by B. irregularis had negative allometry, indicating that smaller snakes could span a greater proportion of their length than larger snakes. The greatest relative gap distance spanned (64% SVL) was by the smallest individual. The majority of snakes (85%) simply crawled slowly to cross a gap. Most of the suspended portion of the body and the path traveled by the head were below the perch that supported the posterior body, which may decrease the tendency of the snake to roll. Some (15%) of the snakes used another behavior in which the neck inclined as much as 45° and then rapidly lunged towards the anterior perch, and this enabled them to cross larger gaps than those using the crawling behavior. Perhaps the launching behavior of the gliding tree snakes (Chrysopelea sp.) evolved from an ancestral behavior of lunging to bridge gaps analogous to that of the brown tree snakes. An estimate of the muscle strain required to prevent the body of the snake from buckling suggests that, despite being light-bodied, brown tree snakes bridging a gap may be at the limit of the physiological capacity of their epaxial muscles.

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.

Extremely high-power tongue projection in plethodontid salamanders

Many plethodontid salamanders project their tongues ballistically at high speed and for relatively great distances. Capturing evasive prey relies on the tongue reaching the target in minimum time, therefore it is expected that power production, or the rate of energy release, is maximized during tongue launch. We examined the dynamics of tongue projection in three genera of plethodontids (Bolitoglossa, Hydromantes and Eurycea), representing three independent evolutionary transitions to ballistic tongue projection, by using a combination of high speed imaging,kinematic and inverse dynamics analyses and electromyographic recordings from the tongue projector muscle. All three taxa require high-power output of the paired tongue projector muscles to produce the observed kinematics. Required power output peaks in Bolitoglossa at values that exceed the greatest maximum instantaneous power output of vertebrate muscle that has been reported by more than an order of magnitude. The high-power requirements are likely produced through the elastic storage and recovery of muscular kinetic energy. Tongue projector muscle activity precedes the departure of the tongue from the mouth by an average of 117 ms in Bolitoglossa, sufficient time to load the collagenous aponeuroses within the projector muscle with potential energy that is subsequently released at a faster rate during tongue launch.

The role of hind limb flexor muscles during swimming in the toad, Bufo marinus

Most work examining muscle function during anuran locomotion has focused largely on the roles of major hind limb extensors during jumping and swimming. Nevertheless, the recovery phase of anuran locomotion likely plays a critical role in locomotor performance, especially in the aquatic environment, where flexing limbs can increase drag on the swimming animal. In this study, I use kinematic and electromyographic analyses to explore the roles of four anatomical flexor muscles in the hind limb of Bufo marinus during swimming: m. iliacus externus, a hip flexor; mm. iliofibularis and semitendinosus, knee flexors; and m. tibialis anticus longus, an ankle flexor. Two general questions are addressed: (1) What role, if any, do these flexors play during limb extension? and (2) How do limb flexors control limb flexion? Musculus iliacus externus exhibits a large burst of EMG activity early in limb extension and shows low levels of activity during recovery. Both m. iliofibularis and m. semitendinosus are biphasically active, with relatively short but intense bursts during limb extension followed by longer and typically weaker secondary bursts during recovery. Musculus tibialis anticus longus becomes active mid way through recovery and remains active through the start of extension in the next stroke. In conclusion, flexors at all three joints exhibit some activity during limb extension, indicating that they play a role in mediating limb movements during propulsion. Further, recovery is controlled by a complex pattern of flexor activation timing, but muscle intensities are generally lower, suggesting relatively low force requirements during this phase of swimming.

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.

Neural modeling and imaging of the cortical interactions underlying syllable production

This paper describes a neural model of speech acquisition and production that accounts for a wide range of acoustic, kinematic, and neuroimaging data concerning the control of speech movements. The model is a neural network whose components correspond to regions of the cerebral cortex and cerebellum, including premotor, motor, auditory, and somatosensory cortical areas. Computer simulations of the model verify its ability to account for compensation to lip and jaw perturbations during speech. Specific anatomical locations of the model's components are estimated, and these estimates are used to simulate fMRI experiments of simple syllable production.

Patterns of strain and activation in the thigh muscles of goats across gaits during level locomotion

Unlike homologous muscles in many vertebrates, which appear to function similarly during a particular mode of locomotion (e.g. red muscle in swimming fish, pectoralis muscle in flying birds, limb extensors in jumping and swimming frogs), a major knee extensor in mammalian quadrupeds, the vastus lateralis, appears to operate differently in different species studied to date. In rats, the vastus undergoes more stretching early in stance than shortening in later stance. In dogs, the reverse is true; more substantial shortening follows small amounts of initial stretching. And in horses, while the vastus strain trajectory is complex, it is characterized mainly by shortening during stance. In this study, we use sonomicrometry and electromyography to study the vastus lateralis and biceps femoris of goats,with three goals in mind: (1) to see how these muscles work in comparison to homologous muscles studied previously in other taxa; (2) to address how speed and gait impact muscle actions and (3) to test whether fascicles in different parts of the same muscle undergo similar length changes. Results indicate that the biceps femoris undergoes substantial shortening through much of stance,with higher strains in walking and trotting [32–33% resting length(L0)] than galloping (22% L0). These length changes occur with increasing biceps EMG intensities as animals increase speed from walking to galloping. The vastus undergoes a stretch–shorten cycle during stance. Stretching strains are higher during galloping (15% L0) than walking and trotting (9%L0). Shortening strains follow a reverse pattern and are greatest in walking (24% L0), intermediate in trotting(20% L0) and lowest during galloping (17%L0). As a result, the ratio of stretching to shortening increases from below 0.5 in walking and trotting to near 1.0 during galloping. This increasing ratio suggests that the vastus does relatively more positive work than energy absorption at the slower speeds compared with galloping,although an understanding of the timing and magnitude of force production is required to confirm this. Length-change regimes in proximal, middle and distal sites of the vastus are generally comparable, suggesting strain homogeneity through the muscle. When strain rates are compared across taxa, vastus shortening velocities exhibit the scaling pattern predicted by theoretical and empirical work: fascicles shorten relatively faster in smaller animals than larger animals (strain rates near 2 L s–1 have been reported for trotting dogs and were found here for goats, versus0.6–0.8 L s–1 reported in horses). Interestingly, biceps shortening strain rates are very similar in both goats and rats during walking (1–1.5 L s–1) and trotting (1.5–2.5 L s–1, depending on speed of trot), suggesting that the ratio of in vivo shortening velocities(V) to maximum shortening velocities (Vmax) is smaller in small animals (because of their higher Vmax).

An apparatus for characterization and control of isolated muscle

An apparatus for characterization and control of muscle tissue is presented. The apparatus is capable of providing generalized mechanical boundary conditions to muscle tissue, as well as implementing real-time feedback control via electrical stimulation. The system is intended to serve as an experimental platform for implementing a wide variety of muscle control and identification studies that will serve as fundamental investigations of muscle mechanics, energetics, functional electrical stimulation, and fatigue. In one illustration of the capabilities of the apparatus, pilot experimental results of muscle workloops against a finite-admittance passive load are presented, illustrating how richer boundary conditions may reveal interesting muscle behavior.

Bone--special problems of the craniofacial region

PROBLEMS

The craniofacial region presents special problems for tissue engineering. First, the stresses and strains that engineered tissues will encounter are mostly unknown. Second, if tissue engineering is to be useful in ameliorating craniofacial anomalies, it will have to mimic the growth activity of the native tissues. These problems are interrelated in that bone growth responds to loading conditions.

METHODS

Our work uses miniature technology to measure skull deformation during function in the miniature pig. Growth is quantified in the same animals by labeling replicating cells with bromodeoxyuridine and newly mineralized bone with fluorochromes. The mandibular condyle and the cranial sutures are both candidate areas for tissue engineering, and craniofacial periosteum is a promising graft material.

RESULTS

The condyle is compressed by the reaction load at the temporomandibular joint (TMJ). Cell divisions in the perichondrium are negatively correlated with bone strain. Craniofacial sutures deform during function much more than adjacent bones, and strains can be either tensile or compressive. In contrast to expectation, functional tension is not correlated with sutural growth rate. However, functional strain does predict sutural morphology, with compressed sutures showing complex interdigitation. Periosteum shows striking differences between resorptive and appositional surfaces. The resorptive medial side of the zygomatic arch is under pressure during function. Tensile strain perpendicular to the surface is probably greater on the temporal than on the zygomatic bone, thus correlating with more rapid periosteal apposition on the temporal.

CONCLUSION

Engineered implants may be more likely to succeed if their architecture suits the strain environment in which they will function.

Interindividual differences in leg muscle mass and pyruvate kinase activity correlate with interindividual differences in jumping performance of Hyla multilineata

Frog jumping is an excellent model system for examining the structural basis of interindividual variation in burst locomotor performance. Some possible factors that affect jump performance, such as total body size, hindlimb length, muscle mass, and muscle mechanical and biochemical properties, were analysed at the interindividual (intraspecies) level in the tree frog Hyla multilineata. The aim of this study was to determine which of these physiological and anatomical variables both vary between individuals and are correlated with interindividual variation in jump performance. The model produced via stepwise linear regression analysis of absolute data suggested that 62% of the interindividual variation in maximum jump distance could be explained by a combination of interindividual variation in absolute plantaris muscle mass, total hindlimb muscle mass (excluding plantaris muscle), and pyruvate kinase activity. When body length effects were removed, multiple regression indicated that the same independent variables explained 43% of the residual interindividual variation in jump distance. This suggests that individuals with relatively large jumping muscles and high pyruvate kinase activity for their body size achieved comparatively large maximal jump distances for their body size.