Beyond muscles: role of intramuscular connective tissue elasticity and passive stiffness in octopus arm muscle function

Octopus as a comparative model for understanding the neural control of limb movement and limb-based behaviors

Octopuses provide a model system for examining the neural control of limbs. Octopus arms serve in a wide range of limb functions, but their arms' neural anatomy, muscle, and connective tissue structures are strikingly different from those of other model taxa, arthropods, and vertebrates. Unlike those groups, octopus arms contain true nerve cords with diverse neuron populations. Nerve cords of different arms connect to one another at their bases. For the arms' large axial nerve cord, signals pass from one arm to other arms through a connecting nerve ring. While the connection of the arm nervous system to the brain is necessary for behaviors such as locomotion; arm movements can be triggered with naturalistic mechanosensory input to an arm. What we know about biological systems shapes our imagination of the possible; understanding the octopus arm neural control expands how we conceive of limb systems operating in animals and inspires engineered devices.

Topology, dynamics, and control of a muscle-architected soft arm

Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into which muscle fibers are weaved. Their arrangement is, effectively, the instantiation of a sophisticated mechanical program that mediates, and likely facilitates, the control and realization of complex, dynamic morphological reconfigurations. Here, by combining medical imaging, biomechanical data, live behavioral experiments, and numerical simulations, an octopus-inspired arm made of [Formula: see text]200 continuous muscle groups is synthesized, exposing "mechanically intelligent" design and control principles broadly pertinent to dynamics and robotics. Such principles are mathematically understood in terms of storage, transport, and conversion of topological quantities, effected into complex 3D motions via simple muscle activation templates. These are in turn composed into higher-level control strategies that, compounded by the arm's compliance, are demonstrated across challenging manipulation tasks, revealing surprising simplicity and robustness.

Passive elasticity properties of Octopus rubescens arms

In this report, passive elasticity properties of Octopus rubescens arm tissue are investigated using a multidisciplinary approach encompassing biomechanical experiments, computational modeling, and analyses. Tensile tests are conducted to obtain stress-strain relationships of the arm under axial stretch. Rheological tests are also performed to probe the dynamic shear response of the arm tissue. Based on these tests, comparisons against three different viscoelasticity models are reported.

Passive mechanical properties of adipose tissue and skeletal muscle from C57BL/6J mice

Skeletal muscle and adipose tissue are characterized by unique structural features finely tuned to meet specific functional demands. In this study, we investigated the passive mechanical properties of soleus (SOL), extensor digitorum longus (EDL) and diaphragm (DIA) muscles, as well as subcutaneous (SAT), visceral (VAT) and brown (BAT) adipose tissues from 13 C57BL/6J mice. Thereto, alongside stress-relaxation assessments we subjected isolated muscles and adipose tissues (ATs) to force-extension tests up to 10% and 30% of their optimal length, respectively. Peak passive stress was highest in the DIA, followed by the SOL and lowest in the EDL (p < 0.05). SOL displayed also the highest Young's modulus and hysteresis among muscles (p < 0.05). BAT demonstrated highest peak passive stress and Young's modulus followed by VAT (p < 0.05), while SAT showed the highest hysteresis (p < 0.05). When comparing data across all six biological specimens at fixed passive force intervals (i.e., 20-40 and 50-70 mN), skeletal muscles exhibited significantly higher peak stresses and strains than ATs (p < 0.05). Young's modulus was higher in skeletal muscles than in ATs (p < 0.05). Muscle specimens exhibited slower force relaxation in the first phase compared to ATs (p < 0.05), while there was no significant difference in behavior between muscles and AT in the second phase of relaxation. The study revealed distinctive mechanical behaviors specific to different tissues, and even between different muscles and ATs. These variations in mechanical properties are likely such to optimize the specific functions performed by each biological tissue.

Toward an Understanding of Octopus Arm Motor Control

Octopuses have the extraordinary ability to control eight prehensile arms with hundreds of suckers. With these highly flexible limbs, they engage in a wide variety of tasks, including hunting, grooming, and exploring their environment. The neural circuitry generating these movements engages every division of the octopus nervous system, from the nerve cords of the arms to the supraesophegeal brain. In this review, the current knowledge on the neural control of octopus arm movements is discussed, highlighting open questions and areas for further study.

Embodied mechanisms of motor control in the octopus

Achieving complex behavior in soft-bodied animals is a hard task, because their body morphology is not constrained by a fixed number of jointed elements, as in skeletal animals, and thus the control system has to deal with practically an infinite number of control variables (degrees of freedom). Almost 30 years of research on Octopus vulgaris motor control has revealed that octopuses efficiently control their body with strategies that emerged during the adaptive coevolution of their nervous system and body morphology. In this minireview, we highlight principles of embodied organization that were revealed by studying octopus motor control, and that are used as inspiration for soft robotics. We describe the evolved solutions to the problem, implemented from the lowest level, the muscular system, to the network organization in higher motor control centers of the octopus brain. We show how the higher motor control centers, where the sensory-motor interface lies, can control and coordinate limbs with large degrees of freedom without using body-part maps to represent sensory and motor information, as they do in vertebrates. We demonstrate how this unique control mechanism, which allows efficient control of the body in a large variety of behaviors, is embodied within the animal's body morphology.

A Year at the Forefront of Hydrostat Motion

Currently, in the field of interdisciplinary work in biology, there has been a significant push by the soft robotic community to understand the motion and maneuverability of hydrostats. This Review seeks to expand the muscular hydrostat hypothesis toward new structures, including plants, and introduce innovative techniques to the hydrostat community on new modeling, simulating, mimicking, and observing hydrostat motion methods. These methods range from ideas of kirigami, origami, and knitting for mimic creation to utilizing reinforcement learning for control of bio-inspired soft robotic systems. It is now being understood through modeling that different mechanisms can inhibit traditional hydrostat motion, such as skin, nostrils, or sheathed layered muscle walls. The impact of this Review will highlight these mechanisms, including asymmetries, and discuss the critical next steps toward understanding their motion and how species with hydrostat structures control such complex motions, highlighting work from January 2022 to December 2022.

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

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

Lessons for Robotics From the Control Architecture of the Octopus

Biological and artificial agents are faced with many of the same computational and mechanical problems, thus strategies evolved in the biological realm can serve as inspiration for robotic development. The octopus in particular represents an attractive model for biologically-inspired robotic design, as has been recognized for the emerging field of soft robotics. Conventional global planning-based approaches to controlling the large number of degrees of freedom in an octopus arm would be computationally intractable. Instead, the octopus appears to exploit a distributed control architecture that enables effective and computationally efficient arm control. Here we will describe the neuroanatomical organization of the octopus peripheral nervous system and discuss how this distributed neural network is specialized for effectively mediating decisions made by the central brain and the continuous actuation of limbs possessing an extremely large number of degrees of freedom. We propose top-down and bottom-up control strategies that we hypothesize the octopus employs in the control of its soft body. We suggest that these strategies can serve as useful elements in the design and development of soft-bodied robotics.

How octopus arm muscle contractile properties and anatomical organization contribute to the arm functional specialization

Octopus arms are highly flexible structures capable of complex motions and are used in a wide repertoire of behaviors. Movements are generated by the coordinated summation of innervation signals to packed arrays of muscles oriented in different directions and moving based on their anatomical relationships. In this study, we investigated the interplay between muscle biomechanics and anatomical organization in the Octopus vulgaris arm to elucidate their role in different arm movements. We performed isometric and isotonic force measurements on isolated longitudinal (L) and transverse (T) arm muscles and showed that L has a higher rate of activation and relaxation, lower twitch-to-tetanus ratio, and lower passive tension than T muscles, thus prompting their use as faster and slower muscles, respectively. This points to the use of L in more graded responses, such as those involved in precise actions, and T in intense and sustained actions, such as motion stabilization and posture maintenance. Once activated, the arm muscles exert forces that cause deformations of the entire arm, which are determined by the amount, location, properties and orientation of their fibers. Here, we show that, although continuous, the arm manifests a certain degree of morphological specialization, where the arm muscles have a different aspect ratio along the arm. This possibly supports the functional specialization of arm portion observed in various motions, such as fetching and crawling. Hence, the octopus arm as a whole can be seen as a 'reservoir' of possibilities where different types of motion may emerge at the limb level through the co-option of the muscle contractile properties and structural arrangement.