Flies tune the activity of their multifunctional gyroscope.

Members of the order Diptera, the true flies, are among the most maneuverable flying animals. These aerial capabilities are partially attributed to flies' possession of halteres, tiny club-shaped structures that evolved from the hindwings and play a crucial role in flight control. Halteres are renowned for acting as biological gyroscopes that rapidly detect rotational perturbations and help flies maintain a stable flight posture. Additionally, halteres provide rhythmic input to the wing steering system that can be indirectly modulated by the visual system. The multifunctional capacity of the haltere is thought to depend on arrays of embedded mechanosensors called campaniform sensilla that are arranged in distinct groups on the haltere's dorsal and ventral surfaces. Although longstanding hypotheses suggest that each array provides different information relevant to the flight control circuitry, we know little about how the haltere campaniforms are functionally organized. Here, we use in vivo calcium imaging during tethered flight to obtain population-level recordings of the haltere sensory afferents in specific fields of sensilla. We find that haltere feedback from both dorsal fields is continuously active, modulated under closed-loop flight conditions, and recruited during saccades to help flies actively maneuver. We also find that the haltere's multifaceted role may arise from the steering muscles of the haltere itself, regulating haltere stroke amplitude to modulate campaniform activity. Taken together, our results underscore the crucial role of efferent control in regulating sensor activity and provide insight into how the sensory and motor systems of flies coevolved.

Mechanosensory encoding of forces in walking uphill and downhill: force feedback can stabilize leg movements in stick insects.

Force feedback could be valuable in adapting walking to diverse terrains, but the effects of changes in substrate inclination on discharges of sensory receptors that encode forces have rarely been examined. In insects, force feedback is provided by campaniform sensilla, mechanoreceptors that monitor forces as cuticular strains. We neurographically recorded responses of stick insect tibial campaniform sensilla to "naturalistic" forces (joint torques) that occur at the hind leg femur-tibia (FT) joint in uphill, downhill, and level walking. The FT joint torques, obtained in a previous study that used inverse dynamics to analyze data from freely moving stick insects, are quite variable during level walking (including changes in sign) but are larger in magnitude and more consistent when traversing sloped surfaces. Similar to vertebrates, insects used predominantly extension torque in propulsion on uphill slopes and flexion torques to brake forward motion when going downhill. Sensory discharges to joint torques reflected the torque direction but, unexpectedly, often occurred as multiple bursts that encoded the rate of change of positive forces (dF/dt) even when force levels were high. All discharges also showed hysteresis (history dependence), as firing substantially decreased or ceased during transient force decrements. These findings have been tested in simulation in a mathematical model of the sensilla (Szczecinski NS, Dallmann CJ, Quinn RD, Zill SN. Bioinspir Biomim 16: 065001, 2021) that accurately reproduced the biological data. Our results suggest the hypothesis that sensory feedback from the femoro-tibial joint indicating force dynamics (dF/dt) can be used to counter the instability in traversing sloped surfaces in animals and, potentially, in walking machines.NEW & NOTEWORTHY Discharges of sensory receptors (campaniform sensilla) in the hind legs of stick insects can differentially signal forces that occur in walking uphill versus walking downhill. Unexpectedly, sensory firing most closely reflects the rate of change of force (dF/dt) even when the force levels are high. These signals have been replicated in a mathematical model of the receptors and could be used to stabilize leg movements both in the animal and in a walking robot.

Mechanical modeling of mechanosensitive insect strain sensors as a tool to investigate exoskeletal interfaces.

During walking, sensory information is measured and monitored by sensory organs that can be found on and within various limb segments. Strain can be monitored by insect load sensors, campaniform sensilla (CS), which have components embedded within the exoskeleton. CS vary in eccentricity, size, and orientation, which can affect their sensitivity to specific strains. Directly investigating the mechanical interfaces that these sensors utilize to encode changes in load bears various obstacles, such as modeling of viscoelastic properties. To circumvent the difficulties of modeling and performing biological experiments in small insects, we developed 3-dimensional printed resin models based on high-resolution imaging of CS. Through the utilization of strain gauges and a motorized tensile tester, physiologically plausible strain can be mimicked while investigating the compression and tension forces that CS experience; here, this was performed for a field of femoral CS inDrosophila melanogaster. Different loading scenarios differentially affected CS compression and the likely neuronal activity of these sensors and elucidate population coding of stresses acting on the cuticle.

Vestibular feedback for flight control in hawkmoths.

Flying insects require mechanosensory feedback to rapidly generate compensatory responses to unexpected perturbations. Such feedback is critical in insects such as moths, which fly under low light levels, compromising their ability to visually compensate for aerial perturbations. Here, we describe how diverse mechanosensory organs have adapted to provide vestibular feedback in various insects, with particular focus on hawkmoths.

Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping.

Animals utilize a number of neuronal systems to produce locomotion. One type of sensory organ that contributes in insects is the campaniform sensillum (CS) that measures the load on their legs. Groups of the receptors are found on high stress regions of the leg exoskeleton and they have significant effects in adapting walking behavior. Recording from these sensors in freely moving animals is limited by technical constraints. To better understand the load feedback signaled by CS to the nervous system, we have constructed a dynamically scaled robotic model of the Carausius morosus stick insect middle leg. The leg steps on a treadmill and supports weight during stance to simulate body weight. Strain gauges were mounted in the same positions and orientations as four key CS groups (Groups 3, 4, 6B, and 6A). Continuous data from the strain gauges were processed through a previously published dynamic computational model of CS discharge. Our experiments suggest that under different stepping conditions (e.g., changing "body" weight, phasic load stimuli, slipping foot), the CS sensory discharge robustly signals increases in force, such as at the beginning of stance, and decreases in force, such as at the end of stance or when the foot slips. Such signals would be crucial for an insect or robot to maintain intra- and inter-leg coordination while walking over extreme terrain.

Ultra high-resolution biomechanics suggest that substructures within insect mechanosensors decisively affect their sensitivity.

Insect load sensors, called campaniform sensilla (CS), measure strain changes within the cuticle of appendages. This mechanotransduction provides the neuromuscular system with feedback for posture and locomotion. Owing to their diverse morphology and arrangement, CS can encode different strain directions. We used nano-computed tomography and finite-element analysis to investigate how different CS morphologies within one location-the femoral CS field of the leg in the fruit fly Drosophila-interact under load. By investigating the influence of CS substructures' material properties during simulated limb displacement with naturalistic forces, we could show that CS substructures (i.e. socket and collar) influence strain distribution throughout the whole CS field. Altered socket and collar elastic moduli resulted in 5% relative differences in displacement, and the artificial removal of all sockets caused differences greater than 20% in cap displacement. Apparently, CS sockets support the distribution of distal strain to more proximal CS, while collars alter CS displacement more locally. Harder sockets can increase or decrease CS displacement depending on sensor location. Furthermore, high-resolution imaging revealed that sockets are interconnected in subcuticular rows. In summary, the sensitivity of individual CS is dependent on the configuration of other CS and their substructures.

Optical inactivation of a proprioceptor in an insect by non-genetic tools.

BACKGROUND: The specific role of sensory organs in locomotor pattern generation is traditionally investigated by means of mechanical ablation in arthropods that currently do not allow genetic manipulation. Mechanical ablation is irreversible, and may lead to injury discharges and changes in the structural integrity of the cuticle. NEW METHOD: Here, we present a new method to temporarily or permanently deprive parts of an insect nervous system of sensory feedback from leg proprioceptors by means of blue light application. We illuminated campaniform sensilla (CS) with a blue LED (420-480 nm) or a 473 nm laser at different light intensities to optically eliminate sensory and motor neuron responses to mechanical stimulation. RESULTS: We were able to eliminate all stimulus-evoked responses of CS. Individual CS groups were precisely and selectively inactivated without affecting nearby proprioceptors, using an optical fiber (Ø 200 µm) to guide the light. Our results demonstrated that lower light intensities significantly increase the required exposure time, but also the chance for recovery, thus making the effect reversible. COMPARISON WITH EXISTING METHODS: In contrast to mechanical ablation, optical inactivation of individual sensory organs is non-invasive and does not affect the behavioral state of the animal, nor does it induce escape behavior. This is especially relevant in non-model system experimental animals where optogenetic manipulation cannot be used, due to a lack of established methods of access. CONCLUSION: Our results show that the proposed method is a reliable alternative to mechanical ablation and can be successfully applied to the CS, as it fulfills all requirements regarding selectivity, efficiency, and reproducibility.

A computational model of insect campaniform sensilla predicts encoding of forces during walking.

Control of forces is essential in both animals and walking machines. Insects measure forces as strains in their exoskeletons via campaniform sensilla (CS). Deformations of cuticular caps embedded in the exoskeleton excite afferents that project to the central nervous system. CS afferent firing frequency (i.e. 'discharge') is highly dynamic, correlating with the rate of change of the force. Discharges adapt over time to tonic forces and exhibit hysteresis during cyclic loading.In this study we characterized a phenomenological model that predicts CS discharge, in which discharge is proportional to the instantaneous stimulus force relative to an adaptive variable. In contrast to previous studies of sensory adaptation, our model (1) is nonlinear and (2) reproduces the characteristic power-law adaptation with first order dynamics only (i.e. no 'fractional derivatives' are required to explain dynamics). We solve the response of the system analytically in multiple cases and use these solutions to derive the dynamics of the adaptive variable. We show that the model can reproduce responses of insect CS to many different force stimuli after being tuned to reproduce only one response, suggesting that the model captures the underlying dynamics of the system. We show that adaptation to tonic forces, rate-sensitivity, and hysteresis are different manifestations of the same underlying mechanism: the adaptive variable. We tune the model to replicate the dynamics of three different CS groups from two insects (cockroach and stick insect), demonstrating that it is generalizable. We also invert the model to estimate the stimulus force given the discharge recording from the animal. We discuss the adaptive neural and mechanical processes that the model may mimic and the model's use for understanding the role of load feedback in insect motor control. A preliminary model and results were previously published in the proceedings of the Conference on Biohybrid and Biomimetic Systems.

Reconstruction of motor control circuits in adult Drosophila using automated transmission electron microscopy.

To investigate circuit mechanisms underlying locomotor behavior, we used serial-section electron microscopy (EM) to acquire a synapse-resolution dataset containing the ventral nerve cord (VNC) of an adult female Drosophila melanogaster. To generate this dataset, we developed GridTape, a technology that combines automated serial-section collection with automated high-throughput transmission EM. Using this dataset, we studied neuronal networks that control leg and wing movements by reconstructing all 507 motor neurons that control the limbs. We show that a specific class of leg sensory neurons synapses directly onto motor neurons with the largest-caliber axons on both sides of the body, representing a unique pathway for fast limb control. We provide open access to the dataset and reconstructions registered to a standard atlas to permit matching of cells between EM and light microscopy data. We also provide GridTape instrumentation designs and software to make large-scale EM more accessible and affordable to the scientific community.

Location and arrangement of campaniform sensilla in Drosophila melanogaster.

Sensory systems provide input to motor networks on the state of the body and environment. One such sensory system in insects is the campaniform sensilla (CS), which detect deformations of the exoskeleton arising from resisted movements or external perturbations. When physical strain is applied to the cuticle, CS external structures are compressed, leading to transduction in an internal sensory neuron. In Drosophila melanogaster, the distribution of CS on the exoskeleton has not been comprehensively described. To investigate CS number, location, spatial arrangement, and potential differences between individuals, we compared the front, middle, and hind legs of multiple flies using scanning electron microscopy. Additionally, we imaged the entire body surface to confirm known CS locations. On the legs, the number and relative arrangement of CS varied between individuals, and single CS of corresponding segments showed characteristic differences between legs. This knowledge is fundamental for studying the relevance of cuticular strain information within the complex neuromuscular networks controlling posture and movement. This comprehensive account of all D. melanogaster CS helps set the stage for experimental investigations into their responsivity, sensitivity, and roles in sensory acquisition and motor control in a light-weight model organism.

Identification of the origin of force-feedback signals influencing motor neurons of the thoraco-coxal joint in an insect.

Force feedback from Campaniform sensilla (CS) on insect limbs helps to adapt motor outputs to environmental conditions, but we are only beginning to reveal the neural control mechanisms that mediate these influences. We studied CS groups that affect control of the thoraco-coxal joint in the stick insect Carausius morosus by applying horizontal and vertical forces to the leg stump. Motor effects of ablation of CS groups were evaluated by recording extracellularly from protractor (ProCx) and retractor (RetCx) nerves. Extracellular recordings showed that the effects of stimulating the sensilla were consistent with their broad ranges of directional sensitivity: for example, RetCx firing in response to posterior bending could be reduced by ablating several groups of trochanteral CS, whereas ablation of tibial and femoral sensilla had little effect. In contrast, ProCx motor neuron activity upon anteriorly directed stimuli was affected mainly by ablating a single CS group (G2). Dye fills of trochanteral, femoral and tibial CS groups with fluorescent dyes revealed a common projection pattern with little group specificity. These findings support the idea that the influences of CS feedback are determined by the activities of pre-motor interneurons, facilitating fast and task-dependent adaptation to changing environmental conditions.

Mechanoreceptive sensillum fields at the tarsal tip of insect legs.

Groups of mechanoreceptive sensilla form small sensory fields on the ventral rim of the most distal tarsomeres in insects. Within these fields two or three sensilla are located closely together. Anterior and posterior fields are found in all three pairs of legs with only a few exceptions. The composition, exact location, and morphology of the fields were studied in representative species of several insect orders using light and scanning electron microscopy. There was no obvious correlation between field morphology and insect phylogenetic relationships.

A load-based mechanism for inter-leg coordination in insects.

Animals rely on an adaptive coordination of legs during walking. However, which specific mechanisms underlie coordination during natural locomotion remains largely unknown. One hypothesis is that legs can be coordinated mechanically based on a transfer of body load from one leg to another. To test this hypothesis, we simultaneously recorded leg kinematics, ground reaction forces and muscle activity in freely walking stick insects (Carausius morosus). Based on torque calculations, we show that load sensors (campaniform sensilla) at the proximal leg joints are well suited to encode the unloading of the leg in individual steps. The unloading coincides with a switch from stance to swing muscle activity, consistent with a load reflex promoting the stance-to-swing transition. Moreover, a mechanical simulation reveals that the unloading can be ascribed to the loading of a specific neighbouring leg, making it exploitable for inter-leg coordination. We propose that mechanically mediated load-based coordination is used across insects analogously to mammals.

Neural evidence supports a dual sensory-motor role for insect wings.

Flying insects use feedback from various sensory modalities including vision and mechanosensation to navigate through their environment. The rapid speed of mechanosensory information acquisition and processing compensates for the slower processing times associated with vision, particularly under low light conditions. While halteres in dipteran species are well known to provide such information for flight control, less is understood about the mechanosensory roles of their evolutionary antecedent, wings. The features that wing mechanosensory neurons (campaniform sensilla) encode remains relatively unexplored. We hypothesized that the wing campaniform sensilla of the hawkmoth, Manduca sexta, rapidly and selectively extract mechanical stimulus features in a manner similar to halteres. We used electrophysiological and computational techniques to characterize the encoding properties of wing campaniform sensilla. To accomplish this, we developed a novel technique for localizing receptive fields using a focused IR laser that elicits changes in the neural activity of mechanoreceptors. We found that (i) most wing mechanosensors encoded mechanical stimulus features rapidly and precisely, (ii) they are selective for specific stimulus features, and (iii) there is diversity in the encoding properties of wing campaniform sensilla. We found that the encoding properties of wing campaniform sensilla are similar to those for haltere neurons. Therefore, it appears that the neural architecture that underlies the haltere sensory function is present in wings, which lends credence to the notion that wings themselves may serve a similar sensory function. Thus, wings may not only function as the primary actuator of the organism but also as sensors of the inertial dynamics of the animal.

Haltere morphology and campaniform sensilla arrangement across Diptera.

One of the primary specializations of true flies (order Diptera) is the modification of the hind wings into club-shaped halteres. Halteres are complex mechanosensory structures that provide sensory feedback essential for stable flight control via an array of campaniform sensilla at the haltere base. The morphology of these sensilla has previously been described in a small number of dipteran species, but little is known about how they vary across fly taxa. Using a synoptic set of specimens representing 42 families from all of the major infraorders of Diptera, we used scanning electron microscopy to map the gross and fine structures of halteres, including sensillum shape and arrangement. We found that several features of haltere morphology correspond with dipteran phylogeny: Schizophora generally have smaller halteres with stereotyped and highly organized sensilla compared to nematoceran flies. We also found a previously undocumented high variation of haltere sensillum shape in nematoceran dipterans, as well as the absence of a dorsal sensillum field in multiple families. Overall, variation in haltere sensillar morphology across the dipteran phylogeny provides insight into the evolution of a highly specialized proprioceptive organ and a basis for future studies on haltere sensory function.

The role of leg touchdown for the control of locomotor activity in the walking stick insect.

Much is known on how select sensory feedback contributes to the activation of different motoneuron pools in the locomotor control system of stick insects. However, even though activation of the stance phase muscles depressor trochanteris, retractor unguis, flexor tibiae and retractor coxae is correlated with the touchdown of the leg, the potential sensory basis of this correlation or its connection to burst intensity remains unknown. In our experiments, we are using a trap door setup to investigate how ground contact contributes to stance phase muscle activation and burst intensity in different stick insect species, and which afferent input is involved in the respective changes. While the magnitude of activation is changed in all of the above stance phase muscles, only the timing of the flexor tibiae muscle is changed if the animal unexpectedly steps into a hole. Individual and combined ablation of different force sensors on the leg demonstrated influence from femoral campaniform sensilla on flexor muscle timing, causing a significant increase in the latencies during control and air steps. Our results show that specific load feedback signals determine the timing of flexor tibiae activation at the swing-to-stance transition in stepping stick insects, but that additional feedback may also be involved in flexor muscle activation during stick insect locomotion. With respect to timing, all other investigated stance phase muscles appear to be under sensory control other than that elicited through touchdown.

Lehr's fields of campaniform sensilla in beetles (Coleoptera): functional morphology. III. Modification of elytral mobility or shape in flying beetles.

Some flying beetles have peculiar functional properties of their elytra, if compared with the vast majority of beetles. A "typical" beetle covers its pterothorax and the abdomen from above with closed elytra and links closed elytra together along the sutural edges. In the open state during flight, the sutural edges diverge much more than by 90°. Several beetles of unrelated taxa spread wings through lateral incisions on the elytra and turn the elytron during opening about 10-12° (Cetoniini, Scarabaeus, Gymnopleurus) or elevate their elytra without partition (Sisyphus, Tragocerus). The number of campaniform sensilla in their elytral sensory field is diminished in comparison with beetles of closely related taxa lacking that incision. Elytra are very short in rove beetles and in long-horn beetles Necydalini. The abundance of sensilla in brachyelytrous long-horn beetles Necydalini does not decrease in comparison with macroelytrous Cerambycinae. Strong reduction of the sensory field was found in brachyelytrous Staphylinidae. Lastly, there are beetles lacking the linkage of the elytra down the sutural edge (stenoelytry). Effects of stenoelytry were also not uniform: Oedemera and flying Meloidae have the normal amount of sensilla with respect to their body size, whereas the sensory field in the stenoelytrous Eulosia bombyliformis is 5-6 times less than in chafers of the same size but with normally linking broad elytra.

Lehr's fields of campaniform sensilla in beetles (Coleoptera): functional morphology. II. Wing reduction and the sensory field.

Loss of the flight ability and wing reduction has been reported for many taxa of Coleoptera. If elytra are closed, their roots are clenched between the tergum and the pleuron, forces applied to the elytra can not be transmitted to the field of campaniform sensilla situated on the root. That is why it is plausible to assume that the field becomes redundant in non-flying beetles. We examined the relationships between the hind wing reduction and characters of this mechanosensory field in beetles of six families. We measured the size of the elytron, that of the hind wing and counted the number of sensilla in the sensory field. Mesopterous non-flying beetles retain one half to one third of sensilla present in macropterous species of the same body size. Further reduction of the sensory field in brachypterous species is obvious, but sensilla are still present in insects with strongly reduced wings, as long as their elytra are separable and mesothoracic axillaries are present. Complete loss of sensilla coincides with the existence of a permanent sutural lock. However, some beetles with permanently locked elytra and absence of axillaries still retain few campaniform sensilla. A very special case of an extreme wing modification in feather-wing beetles is considered. No sensilla were revealed either on the root of the elytron or on the basal segment of such fringed wings in flying ptiliid species.

Lehr's fields of campaniform sensilla in beetles (Coleoptera): functional morphology. I. General part and allometry.

In this first of three articles we show the construction of the articular part of the elytron, the root. The root bears a conspicuous field of campaniform sensilla. This field was studied using light and scanning electron microscopes. The diversity of shape of the field among beetles, types of orientation of elongated sensilla within the field, individual variability of their number among conspecifics are demonstrated. Elongated sensilla point to the junction of the elytron with the second axillary plate. Presumably, they monitor twist movement in this junction, which is possible if the elytron is open. The goal of the whole project is to reveal the effect of both structure and function of the hind wings and elytra on the morphology of this mechanosensory field. Our data on allometric relationships between the animal size and quantitative characteristics of the field in normally flying beetles provide an important background for further functional analysis of this sensory organ. We selected 14 series of several species belonging to the same taxon but differing in size from big to small. It is revealed that the area of the sensory field is directly proportional to the elytral area, whereas the number of sensilla is proportional to the square root of the elytral area. Despite the great range in the elytral area (1500 times) in series of selected species the area of an external pit or cap of a single sensillum varies only 25-fold. The density of sensilla per unit area of the sensory field increases with decrease of the elytral area.

Two different sets of cis elements regulate scute to establish two different sensory patterns.

We have analysed the role of the achaete-scute gene complex in the development of the pattern of campaniform sensilla on the wing blade of Drosophila. We show that the complete pattern results from the superimposition of two independent subpatterns, one of which depends on the achaete gene and the other on scute. The scute subpattern comprises several clusters of sensilla, most of which seem to require the presence of control regions located upstream of the transcribed region. This is in contrast with the pattern of scute-dependent bristles, most of which depends on control elements located downstream of the transcribed region.