Comparative analysis of a geometric and an adhesive righting strategy against toppling in inclined hexapedal locomotion.

Animals are known to exhibit different walking behaviors in hilly habitats. For instance, cats, rats, squirrels, tree frogs, desert iguana, stick insects and desert ants were observed to lower their body height when traversing slopes, whereas mound-dwelling iguanas and wood ants tend to maintain constant walking kinematics regardless of the slope. This paper aims to understand and classify these distinct behaviors into two different strategies against toppling for climbing animals by looking into two factors: (i) the torque of the center of gravity (CoG) with respect to the critical tipping axis, and (ii) the torque of the legs, which has the potential to counterbalance the CoG torque. Our comparative locomotion analysis on level locomotion and inclined locomotion exhibited that primarily only one of the proposed two strategies was chosen for each of our sample species, despite the fact that a combined strategy could have reduced the animal's risk of toppling over even more. We found that Cataglyphis desert ants (species Cataglyphis fortis) maintained their upright posture primarily through the adjustment of their CoG torque (geometric strategy), and Formica wood ants (species Formica rufa), controlled their posture primarily by exerting leg torques (adhesive strategy). We further provide hints that the geometric strategy employed by Cataglyphis could increase the risk of slipping on slopes as the leg-impulse substrate angle of Cataglyphis hindlegs was lower than that of Formica hindlegs. In contrast, the adhesion strategy employed by Formica front legs not only decreased the risk of toppling but also explained the steeper leg-impulse substrate angle of Formica hindlegs which should relate to more bending of the tarsal structures and therefore to more microscopic contact points, potentially reducing the risk of hindleg slipping.

Cockroaches use diverse strategies to self-right on the ground.

Terrestrial animals often must self-right from an upside-down orientation on the ground to survive. Here, we compared self-righting strategies of the Madagascar hissing, American and discoid cockroaches on a challenging flat, rigid, low-friction surface to quantify the mechanical principles. All three species almost always self-righted (97% probability) when given time (30 s), frequently self-righted (63%) on the first attempt, and on that attempt did so in 1 s or less. When successful, two of the three species gained and used pitch and/or roll rotational kinetic energy to overcome potential energy barriers (American 63% of all attempts and discoid 78%). By contrast, the largest, heaviest, wingless cockroach (Madagascar hissing) relied far less on the energy of motion and was the slowest to self-right. Two of the three species used rolling strategies to overcome low potential energy barriers. Successful righting attempts had greater rolling rotation than failed attempts as the center of mass rose to the highest position. Madagascar hissing cockroaches rolled using body deformation (98% of all trials) and the American cockroach rolled using leg forces (93%). By contrast, the discoid cockroach overcame higher and a wider range of potential energy barriers with simultaneous pitching and rolling using the wings (46% of all trials) and legs (49%) equally to self-right. Our quantification revealed the performance advantages of using rotational kinetic energy to overcome the potential energy barrier and rolling more to lower it, while maintaining diverse strategies for ground-based self-righting.

Standardized Assessment of Resistance Training-Induced Subjective Symptoms and Objective Signs of Immunological Stress Responses in Young Athletes.

From a health and performance-related perspective, it is crucial to evaluate subjective symptoms and objective signs of acute training-induced immunological responses in young athletes. The limited number of available studies focused on immunological adaptations following aerobic training. Hardly any studies have been conducted on resistance-training induced stress responses. Therefore, the aim of this observational study was to investigate subjective symptoms and objective signs of immunological stress responses following resistance training in young athletes. Fourteen (7 females and 7 males) track and field athletes with a mean age of 16.4 years and without any symptoms of upper or lower respiratory tract infections participated in this study. Over a period of 7 days, subjective symptoms using the Acute Recovery and Stress Scale (ARSS) and objective signs of immunological responses using capillary blood markers were taken each morning and after the last training session. Differences between morning and evening sessions and associations between subjective and objective parameters were analyzed using generalized estimating equations (GEE). In post hoc analyses, daily change-scores of the ARSS dimensions were compared between participants and revealed specific changes in objective capillary blood samples. In the GEE models, recovery (ARSS) was characterized by a significant decrease while stress (ARSS) showed a significant increase between morning and evening-training sessions. A concomitant increase in white blood cell count (WBC), granulocytes (GRAN) and percentage shares of granulocytes (GRAN%) was found between morning and evening sessions. Of note, percentage shares of lymphocytes (LYM%) showed a significant decrease. Furthermore, using multivariate regression analyses, we identified that recovery was significantly associated with LYM%, while stress was significantly associated with WBC and GRAN%. Post hoc analyses revealed significantly larger increases in participants' stress dimensions who showed increases in GRAN%. For recovery, significantly larger decreases were found in participants with decreases in LYM% during recovery. More specifically, daily change-scores of the recovery and stress dimensions of the ARSS were associated with specific changes in objective immunological markers (GRAN%, LYM%) between morning and evening-training sessions. Our results indicate that changes of subjective symptoms of recovery and stress dimensions using the ARSS were associated with specific changes in objectively measured immunological markers.

A Neuro-Musculo-Skeletal Model for Insects With Data-driven Optimization.

Simulating the locomotion of insects is beneficial to many areas such as experimental biology, computer animation and robotics. This work proposes a neuro-musculo-skeletal model, which integrates the biological inspirations from real insects and reproduces the gait pattern on virtual insects. The neural system is a network of spiking neurons, whose spiking patterns are controlled by the input currents. The spiking pattern provides a uniform representation of sensory information, high-level commands and control strategy. The muscle models are designed following the characteristic Hill-type muscle with customized force-length and force-velocity relationships. The model parameters, including both the neural and muscular components, are optimized via an approach of evolutionary optimization, with the data captured from real insects. The results show that the simulated gait pattern, including joint trajectories, matches the experimental data collected from real ants walking in the free mode. The simulated character is capable of moving at different directions and traversing uneven terrains.

Propulsion in hexapod locomotion: how do desert ants traverse slopes?

The employment of an alternating tripod gait to traverse uneven terrains is a common characteristic shared among many Hexapoda. Because this could be one specific cause for their ecological success, we examined the alternating tripod gait of the desert ant Cataglyphis fortis together with their ground reaction forces and weight-specific leg impulses for level locomotion and on moderate (±30 deg) and steep (±60 deg) slopes in order to understand mechanical functions of individual legs during inclined locomotion. There were three main findings from the experimental data. (1) The hind legs acted as the main brake (negative weight-specific impulse in the direction of progression) on both the moderate and steep downslopes while the front legs became the main motor (positive weight-specific impulse in the direction of progression) on the steep upslope. In both cases, the primary motor or brake was found to be above the centre of mass. (2) Normalised double support durations were prolonged on steep slopes, which could enhance the effect of lateral shear loading between left and right legs with the presence of direction-dependent attachment structures. (3) The notable directional change in the lateral ground reaction forces between the moderate and steep slopes implied the utilisation of different coordination programs in the extensor-flexor system.