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Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs

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Biomimetic and Biohybrid Systems (Living Machines 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14157))

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Abstract

Insects use various sensory organs to monitor proprioceptive and exteroceptive information during walking. The measurement of forces in the exoskeleton is facilitated by campaniform sensilla (CS), which monitor resisted muscle forces through the detection of exoskeletal strains. CS are commonly found in leg segments arranged in fields, groups, or as single units. Most insects have the highest density of sensor locations on the trochanter, a proximal leg segment. CS are arranged homologously across species, suggesting comparable functions despite noted morphological differences. Furthermore, the trochanter–femur joint is mobile in some species and fused in others. To investigate how different morphological arrangements influence strain sensing in different insect species, we utilized two robotic models of the legs of the fruit fly Drosophila melanogaster and the stick insect Carausius morosus. Both insect species are past and present model organisms for unraveling aspects of motor control, thus providing extensive information on sensor morphology and, in-part, function. The robotic models were dynamically scaled to the legs of the insects, with strain gauges placed with correct orientations according to published data. Strains were detected during stepping on a treadmill, and the sensor locations and leg morphology played noticeable roles in the strains that were measured. Moreover, the sensor locations that were absent in one species relative to the other measured strains that were also being measured by the existing sensors. These findings contributed to our understanding of load sensing in animal locomotion and the relevance of sensory organ morphology in motor control.

G. F. Dinges and W. P. Zyhowski—These authors contributed equally to this work.

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Funding

G.F.D., W.P.Z., C.A.G., and N.S.S. were supported by NSF DBI 2015317 as part of the NSF/CIHR/DFG/FRQ/UKRI-MRC Next Generation Networks for Neuroscience Program. W.P.Z. and N.S.S. were supported by NSF IIS 2113028. G.F.D. was supported by DFG DI 2907/1-1 (Project number 500615768).

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Authors and Affiliations

  1. Neuro-Mechanical Intelligence Laboratory, CEMR Mechanical and Aerospace L4, West Virginia University, Morgantown, WV, USA

    Gesa F. Dinges, William P. Zyhowski, C. A. Goldsmith & Nicholas S. Szczecinski

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  1. Gesa F. Dinges
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  2. William P. Zyhowski
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  3. C. A. Goldsmith
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  4. Nicholas S. Szczecinski
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Correspondence to Nicholas S. Szczecinski .

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Editors and Affiliations

  1. Italian Institute of Technology, Genova, Italy

    Fabian Meder

  2. Portland State University, Portland, OR, USA

    Alexander Hunt

  3. Istituto Italiano di Tecnologia, Genova, Italy

    Laura Margheri

  4. Radboud University Nijmegen, Barcelona, Barcelona, Spain

    Anna Mura

  5. Italian Institute of Technology, Genova, Italy

    Barbara Mazzolai

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Dinges, G.F., Zyhowski, W.P., Goldsmith, C.A., Szczecinski, N.S. (2023). Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs. In: Meder, F., Hunt, A., Margheri, L., Mura, A., Mazzolai, B. (eds) Biomimetic and Biohybrid Systems. Living Machines 2023. Lecture Notes in Computer Science(), vol 14157. Springer, Cham. https://doi.org/10.1007/978-3-031-38857-6_30

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