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Moving effortlessly in three dimensions: does Donders' law apply to arm movement?

Donders' law, as applied to the arm, predicts that to every location of the hand in space there corresponds a unique posture of the arm as defined by shoulder and elbow angles. This prediction was tested experimentally by asking human subjects to make pointing movements to a select number of target locations starting from a wide range of initial hand locations. The posture of the arm was measured at the start and end of every movement by means of video cameras. It was found that, in general, the posture of the arm at a given hand location does depend on the starting location of the movement and that, consequently, Donders' law is violated in this experimental condition. Kinematic and kinetic factors that could account for the variations in arm posture were investigated. It proved impossible to predict the final posture of the arm purely from kinematics, based on the initial posture of the arm. One hypothesis was successful in predicting final arm postures, namely that the final posture minimizes the amount of work that must be done to transport the arm from the starting location.

Arm↗

Beat frequency difference between the two flagella of Chlamydomonas depends on the attachment site of outer dynein arms on the outer-doublet microtubules.

The two flagella of Chlamydomonas, although similar to each other at first glance, differ in functional properties. A clear difference exists in the beat frequency: the trans-flagellum (the one farthest from the eyespot) beats with 30-40% higher frequency than the cis-flagellum (the one nearest to the eyespot) in demembranated and reactivated cell models. This difference is considered to be influenced by outer arm dynein, because the two flagella beat at almost the same frequency in cell models of oda mutants lacking the outer dynein arm. When a sample of outer arm dynein extracted and purified from the wild-type axoneme was mixed with the cell models of an oda mutant, oda1, an almost normal number of outer dynein arms became attached to the axonemes, and the wild-type level of beat frequency was recovered on reactivation with ATP addition. The frequency imbalance, however, was not restored. Unexpectedly, when a similar experiment was performed with the cell model of another oda mutant, oda6, the addition of outer arm dynein restored the cis-trans frequency imbalance in addition to the normal number of outer arms and the higher level of reactivated motility. Among other oda mutants, oda3 yielded results similar to those with oda1, whereas oda2, oda4, and oda5 yielded results similar to those with oda6. Because the only structural difference between the two groups of oda mutants is that the oda1 and oda3 axonemes lack the outer arm attachment site on the outer doublet A-tubule while the axonemes of the other mutants retain it, these findings suggest that the attachment site for the outer dynein arm is important in determining the flagellar beat frequency. This suggests that the basal portion of the outer arm dynein is important in regulating the flagellar activity and therefore the behavior of the cell.

Animals↗

Functional binding of inner-arm dyneins with demembranated flagella of Chlamydomonas mutants.

Experiments were carried out to see if isolated inner arm dyneins could functionally combine with axonemes lacking them. High-salt extract from the axoneme of Chlamydomonas oda1 mutant lacking outer-arm dynein was added to the demembranated cell models of ida1oda1 lacking inner arm dynein f (dynein I1) and outer arm dynein. After incubation, the originally paralyzed ida1oda1 axonemes recovered the ability to beat in the presence of ATP. A similar good motility recovery after incubation with crude oda1 extract was observed in ida9oda2 lacking outer arm and inner arm dynein c, and partial recovery in ida4oda1 lacking outer arm and inner arm species a, c, and d. These observations indicate that dynein f and dynein c can functionally bind with mutant axonemes lacking them. A method for combining isolated inner arm dyneins with axonemes in a functionally active manner should provide a powerful experimental tool with which to study the mechanism of beating.

Animals↗

Comparison between leg and arm eccentric exercises of the same relative intensity on indices of muscle damage.

Many exercise models have demonstrated associations between eccentric muscle actions and muscle damage. However, the magnitude of muscle damage varies among the models. It appears that responses to eccentric exercise are different between leg and arm muscles but this has not been systematically clarified. This study compared leg and arm eccentric exercises of the same relative intensity for indices of muscle damage. Eleven healthy untrained males [Age: 21.2 (1.0) years, Height: 179.4 (3.0) cm, Weight: 78.4 (3.1) kg] performed a sub-maximal eccentric exercise of the knee extensors (LEGS) and the elbow flexors (ARMS), separately. Both LEGS and ARMS consisted of six sets of 12 repetitions with an intensity corresponding to 75% of the predetermined maximal eccentric peak torque (EPT) of each muscle. Range of motion (ROM), delayed onset muscle soreness (DOMS), serum creatine kinase (CK) and lactate dehydrogenase (LDH) activities, myoglobin (Mb) concentration, and muscle strength [EPT and isometric peak torque (IPT)] were assessed before and 24, 48, 72, and 96 h following exercise. Significant (P < 0.05) changes in DOMS and ROM were observed up to 96 h after both exercise bouts, and the magnitude of the change was similar between LEGS and ARMS. Increases in CK and Mb were significantly (P < 0.05) larger after ARMS than LEGS at 72 and 96 h post-exercise. EPT and IPT were significantly (P < 0.05) lower than the baseline up to 96 h post-exercise for ARMS but were fully recovered by 96 h post-exercise for LEGS. Decreases in muscle strength were significantly (p < 0.05) larger following ARMS than LEGS at 48, 72, and 96 h post-exercise for EPT, and from 24 h to 96 h post-exercise for IPT. These results suggest that the magnitude of muscle damage is greater and the recovery of muscle function was slower after eccentric exercise of arm elbow flexors than the knee extensors.

Adult↗

On the binding of isolated yeast tRNA(Phe) anticodon arm to Escherichia coli 30S and 70S ribosomes. Guanosine-42 is important for the binding.

Conditions for the reversible binding of isolated anticodon arm of yeast tRNA(Phe) (15-nucleotide, corresponding to nucleotides N28-N42) to the P site of Escherichia coli 30S and 70S ribosomes have been determined. The affinity constant for the anticodon arm binding to 70S ribosomes is shown to be only 30-fold weaker than that for the binding of total tRNA(Phe). The affinities of yeast tRNA(Phe) and the anticodon arm for 30S subunits and of the anticodon arm for the total 70S ribosomes are shown to be equal. These data imply that the anticodon arm moiety of tRNA(Phe) mainly contributes to the tRNA-70S ribosome interaction, i.e., it contributes for the most part to the total free energy of the deacylated tRNA(Phe) interaction with the P site of the 70S ribosome. By taking into account additional contacts in the 3'-CCA end, other contacts in the region besides the anticodon arm and 3'-CCA end are presumably absent. Within the anticodon arm removal of the 3'-end nucleotide corresponding to guanosine-42 in tRNA(Phe) decreases the association constant of the anticodon arm-ribosome interaction 15-fold. Replacement of this guanosine with other nucleosides as well as modification of the ribose moiety (oxidation and reduction) does not affect the affinity. The replacement data are very likely to indicate that G42 affects the anticodon arm affinity by forming a direct contact with ribosome.

Anticodon↗

Regulation of sister chromatid cohesion between chromosome arms.

Sister chromatid separation in anaphase depends on the removal of cohesin complexes from chromosomes. In vertebrates, the bulk of cohesin is already removed from chromosome arms during prophase and prometaphase, whereas cohesin remains at centromeres until metaphase, when cohesin is cleaved by the protease separase. In unperturbed mitoses, arm cohesion nevertheless persists throughout metaphase and is principally sufficient to maintain sister chromatid cohesion. How arm cohesion is maintained until metaphase is unknown. Here we show that small amounts of cohesin can be detected in the interchromatid region of metaphase chromosome arms. If prometaphase is prolonged by treatment of cells with microtubule poisons, these cohesin complexes dissociate from chromosome arms, and arm cohesion is dissolved. If cohesin dissociation in prometaphase-arrested cells is prevented by depletion of Plk1 or inhibition of Aurora B, arm cohesion is maintained. These observations imply that, in unperturbed mitoses, small amounts of cohesin maintain arm cohesion until metaphase. When cells lacking Plk1 and Aurora B activity enter anaphase, chromatids lose cohesin. This loss is prevented by proteasome inhibitors, implying that it depends on separase activation. Separase may therefore be able to cleave cohesin at centromeres and on chromosome arms.

Animals↗

Moment arm of the patellar tendon in the human knee.

The moment arm of the knee-extensor mechanism is described by the moment arm of the patellar tendon calculated with respect to the screw axis of the tibia relative to the femur. The moment arm may be found once the line of action of the patellar tendon and the position and orientation of the screw axis are known. In this study, the orientation of the patellar tendon and the position and orientation of the finite screw axis of the tibia relative to the femur were calculated from measurements of the three-dimensional positions of the bones obtained from fresh cadaver specimens. Peak values of the patellar tendon moment arm ranged from 4-6 cm for the six knees tested; the moment arm was maximum near 45 degrees of knee flexion. The moment arm of the patellar tendon was nearly equal to the shortest (perpendicular) distance between the line of action of the patellar tendon and the axis of rotation of the knee at all flexion angles, except near full extension. Near full extension, the angle between the patellar tendon and the screw axis was significantly less than 90 degrees, and the magnitude of the moment arm was then less than the perpendicular distance between these two lines. The patellar tendon moment arm remained roughly constant across individuals when normalized by femoral condyle width, suggesting that anatomical differences play a large role in determining the moment arm of the extensor mechanism.

Female↗

Rate of regeneration of two arms in the field and its effect on body components in Luidia clathrata (Echinodermata: Asteroidea).

The incidence of arm regeneration, effects of arm regeneration on non-regenerating body components and rate of arm regeneration were examined under field conditions. Approximately 60% of Luidia clathrata found in the upper portion of Tampa Bay, Florida were regenerating one or more arms. Individuals with two arms amputated at the disk edge took 380 days to regenerate completely. Both arms of an individual regenerated at the same rate. Length of regenerating arms initially increased faster than dry mass. No difference was found between non-regenerating and regenerating individuals for the dry mass of the body wall, pyloric caeca, and gonad of a non-regenerating arm. The absolute masses of the gonad and pyloric caeca were low through out the year possibly indicating a low food environment. Based on the rate of regeneration, arm loss just prior to the reproductive season may reduce the reproductive potential of this species.

Journal Article↗

The relevance of the moment arm of shoulder muscles with respect to axial rotation of the glenohumeral joint in four positions.

OBJECTIVE: This study was undertaken to determine the efficiency of the shoulder girdle muscles during axial humeral rotation based on measurements of the moment arms. DESIGN: The instantaneous muscle moment arms of 10 shoulder muscles, including the three portions of the deltoid, the rotator cuff muscles, teres major, and the thoracohumeral muscle group, were measured during four specified glenohumeral rotations. BACKGROUND: Axial humeral rotation is a commonly performed movement during activities of daily living and is a targeted motion of shoulder rehabilitation, particularly in those protocols emphasizing rotator cuff strengthening. An understanding of the function of the movers and stabilizers of the shoulder requires such basic information of muscle moment arms. METHODS: The instantaneous moment arm values of the muscles were derived from the slope of the plot of tendon excursion versus glenohumeral joint rotation angle. Motion studied included axial rotation with the humerus elevated 90 degrees in the coronal, scapular, and sagittal planes, as well as in the neutral position with the arm at the side. RESULTS: Based on the findings, with the humerus in both neutral and elevated positions, the infraspinatus is potentially the most powerful external rotator, followed by teres minor and posterior deltoid. Subscapularis and possibly pectoralis major are the most effective internal rotators in this position. CONCLUSIONS: The moment arm in providing axial humeral rotation of 10 shoulder muscles in four planes were obtained. In general, the teres minor and infraspinatus had the largest moment arms in external rotation, and the subscapularis had the largest moment arm in internal rotation. The muscle function for axial humeral rotation was found to be modified by the plane of arm elevation. RELEVANCE: The data could be used for developing exercise programs in physical therapy.

Adult↗

Spatial memory and choice behavior in the radial arm maze after fornix transection.

In the radial arm maze task, it is well established that performance of rats with hippocampal damage is severely impaired on the place version, which relies heavily, if not exclusively, on spatial information. However, very little is known about the effects of hippocampal damage on actual choice behavior. To address this issue, sham-operated (SH) and fornix-transected (FX) rats were trained and tested on the place task in the eight-arm radial maze. The following measures were recorded: the frequency of re-entry errors, the number of choices separating repeated visits to the same arm, the latency to arm re-entry, the distribution and targets of microchoices defined as orientations toward an arm or entries in the proximal portion of an arm [Brown, M.F., 1992. Does a cognitive map guide choices in the radial arm maze? J. Exp. Psychol., Anim. Behav. Processes 18, 56-66]. These measures were used as indexes of performance, within-trial retroactive intrusion, memory trace decay and choice behavior, respectively. As generally observed in the literature, the frequency of errors was higher in rats of the FX group than in rats of the SH group; the impairment persisted even after the training criterion was reached. The analysis of latency to arm re-entry and of the number of choices separating re-entries suggested that this impairment was the result of faster memory decay rather than retroactive interference. Both FX and SH groups exhibited a systematic pattern of microchoices, but the frequency of microchoices was higher in FX lesioned rats than in SH controls. Moreover, in lesioned animals, relatively fewer of the initial microchoices were directed toward the baited arms during training-to-criterion. Some of the results provide support to the working memory theory [Olton, D.S., Becker, J.T., Handelmann, G.E., 1979. Hippocampus, space, and memory. Behav. Brain Sci. 2, 313-365], whereas others look more consistent with the cognitive map view [O'Keefe, J., Nadel, L., 1978. The Hippocampus as a Cognitive Map. Clarendon Press, Oxford]. The discussion suggests that both theories and a distinction between prospective and retrospective memory may be required to account for the function of the hippocampal formation in memory.

Animals↗

Effect of sequence on the structure of three-arm DNA junctions.

We have investigated the geometry of a number of three-arm branched DNA molecules by measuring the relative electrophoretic mobilities of analogues of each junction in which one pair of arms is extended. In general, the mobilities of three species of three-arm junctions in which the duplex arms are extended pairwise differ in the presence of Mg2+. This effect is eliminated by the absence of Mg2+ or by an increase in temperature, leading us to conclude that the three-arm DNA junctions are not 3-fold symmetric, because of either preferential stacking or asymmetric kinking of the arms at the branch that occurs in the presence of Mg2+. The geometry of the junction is governed by the base sequence at the branch and 1 bp removed from the branch. The pairwise elongated analogues of junctions that contain identical base pairs at the branch or 1 bp from the branch show mobility differences; when both positions have the same sequence no mobility differences are detected even in the presence of Mg2+. Formation of a branch in three-arm DNA junctions can be seen to produce a strain or deformation that propagates about one turn of the helix from the branch, leading thymines in this region to become hyperreactive to osmium tetraoxide. Surprisingly, the effect is independent of the presence or absence of metal cations. The structure of the three-arm junction is thus quite different in character from that of four-arm junctions both in the presence and absence of high concentrations of metal cations.

Base Sequence↗

Inner and outer arm axonemal dyneins from the Antarctic rockcod Notothenia coriiceps.

Adaptive compensation of enzymatic activities is common among cold-living poikilotherms. Their enzymes often demonstrate higher activities at low temperatures than do homologs from temperate or thermophilic species. To understand the molecular features necessary for cold adaptation of microtubule motor proteins, we have initiated studies of the flagellar dynein ATPases of Antarctic fishes (body temperature range = -1.8 to +2 degrees C). Dyneins were isolated by high-salt extraction of demembranated sperm axonemes from the Antarctic yellowbelly rockcod, Notothenia coriiceps. Although solubilization of inner arms was incomplete, an inner arm dynein was recognized as a discrete complex containing one major dynein heavy chain (DHC) and sedimenting through sucrose gradients at approximately 12 S. Like inner arm dyneins from Chlamydomonas, the fish complex contained an actin-immunoreactive protein of 43 kDa and a 30-kDa protein. One isoform of the inner arm DHC gene family of N. coriiceps was detected by the polymerase chain reaction, and Southern analysis established that this DHC gene is present at one copy per haploid genome. Outer arm dynein was extracted quantitatively by high-salt treatment, contained two DHCs (one major, one minor), and sedimented through sucrose gradients as a polydisperse, aggregating system. Associated with the outer arm DHCs were five presumptive intermediate chains (ICs) of 66-91 kDa, immunologically defined by their cross-reactivity to four monoclonal antibodies specific for ICs from other organisms. The basal (non-microtubule-stimulated) specific ATPase activities of the N. coriiceps inner and outer arm dyneins were approximately 0.07 and approximately 0.04 micromol of P(i) min(-1) mg(-1), respectively, at 0 degrees C, attained their maxima (approximately 0.1 micromol of P(i) min(-1) mg(-1)) at 9 and 19 degrees C, respectively, and at higher temperatures declined substantially. Furthermore, the activities of the fish dyneins at temperatures < or = 15 degrees C were significantly larger than that of outer arm dynein from the mesophile Tetrahymena. These results suggest that the greater catalytic efficiencies of N. coriiceps inner and outer arm dyneins at low temperatures are due to enhanced polypeptide flexibility in the active sites of their protein subunits. We conclude that temperature adaptation of flagellar dyneins from Antarctic fishes is compatible with substantial conservation of primary and quaternary structure.

Amino Acid Sequence↗

Direction of force generated by the inner row of dynein arms on flagellar microtubules.

Our goal was to determine the direction of force generation of the inner dynein arms in flagellar axonemes. We developed an efficient means of extracting the outer row of dynein arms in demembranated sperm tail axonemes, leaving the inner row of dynein arms structurally and functionally intact. Sperm tail axonemes depleted of outer arms beat at half the beat frequency of sperm tails with intact arms over a wide range of ATP concentrations. The isolated, outer arm-depleted axonemes were induced to undergo microtubule sliding in the presence of ATP and trypsin. Electron microscopic analysis of the relative direction of microtubule sliding (see Sale, W. S. and P. Satir, 1977, Proc. Natl. Acad. Sci. USA, 74:2045-2049) revealed that the doublet microtubule with the row of inner dynein arms, doublet N, always moved by sliding toward the proximal end of the axoneme relative to doublet N + 1. Therefore, the inner arms generate force such that doublet N pushes doublet N + 1 tipward. This is the same direction of microtubule sliding induced by ATP and trypsin in axonemes having both inner and outer dynein arms. The implications of this result for the mechanism of ciliary bending and utility in functional definition of cytoplasmic dyneins are discussed.

Adenosine Triphosphatases↗

Arrangement of inner dynein arms in wild-type and mutant flagella of Chlamydomonas.

We have used computer averaging of electron micrographs from longitudinal and cross-sections of wild-type and mutant axonemes to determine the arrangement of the inner dynein arms in Chlamydomonas reinhardtii. Based on biochemical and morphological data, the inner arms have previously been described as consisting of three distinct subspecies, I1, I2, and I3. Our longitudinal averages revealed 10 distinguishable lobes of density per 96-nm repeating unit in the inner row of dynein arms. These lobes occurred predominantly but not exclusively in two parallel rows. We have analyzed mutant strains that are missing I1 and I2 subspecies. Cross-sectional averages of pf9 axonemes, which are missing the I1 subspecies, showed a loss of density in both the inner and outer portions of the inner arm. Averages from longitudinal images showed that three distinct lobes were missing from a single region; two of the lobes were near the outer arms but one was more inward. Serial 24-nm cross-sections of pf9 axonemes showed a complete gap at the proximal end of the repeating unit, confirming that the I1 subunit spans both inner and outer portions of the inner arm region. Examination of pf23 axonemes, which are missing both I1 and I2 subspecies, showed an additional loss almost exclusively in the inner portion of the inner arm. In longitudinal view, this additional loss occurred in three separate locations and consisted of three inwardly placed lobes, one adjacent to each of the two radial spokes and the third at the distal end of the repeating unit. These same lobes were absent ida4 axonemes, which lack only the I2 subspecies. The I2 subspecies thus does not consist of a single dynein arm subunit in the middle of the repeating unit. The radial spoke suppressor mutation, pf2, is missing four polypeptides of previously unknown location. Averages of these axonemes were missing a portion of the structures remaining in pf23 axonemes. This result suggests that polypeptides of the radial spoke control system are close to the inner dynein arms.

Animals↗

Arm tremor in cervical dystonia differs from essential tremor and can be classified by onset age and spread of symptoms.

The pathophysiology of arm tremor in patients with cervical dystonia (CD) and its relationship to other types of tremor is unclear. In the present study, we have compared the tremor in these patients with that seen in patients with essential tremor (ET) using two neurophysiological techniques: the triphasic EMG pattern accompanying ballistic wrist flexion movements; and reciprocal inhibition between forearm muscles. During ballistic wrist flexion movements, the latency of the second agonist EMG burst was later in ET than CD patients. This suggests that the mechanism of the arm tremor in CD may differ from that in ET. There was no group difference between reciprocal inhibition in patients with ET or CD. However, there was much more variability in the data from patients with CD. Because of this, we subdivided the CD patients into two groups, group A with normal levels of presynaptic inhibition and group B with reduced or absent presynaptic inhibition. A posteriori, it turned out that the patients in these two subgroups had similar clinical symptoms, but different clinical histories. The arm tremor of patients in group A started simultaneously with torticollis (mean onset age of arm tremor 40 years +/- 20.7 SD, interval between onset of arm tremor and torticollis 0 +/- 2.9 years) whereas it began much earlier (mean onset age 14 years +/- 6 SD) and preceded onset of torticollis by a longer interval (21.6 +/- 17.5 years) in patients of group B. Patients in group A also had less co-contraction in their ballistic wrist movements between the first agonist and the antagonist burst than those patients in group B. We conclude that arm tremor in patients with CD may have a mechanism different from that seen in patients with ET. Moreover, the data imply that there are two subgroups of CD patients with arm tremor, one with a late and simultaneous onset of arm tremor and torticollis (group A), and another with an early onset of arm tremor and later development of torticollis (group B). These groups do not correspond to the currently proposed clinical subdivision of 'dystonic tremor' and 'tremor associated with dystonia'.

Adult↗

Dissection of the bacteriophage Mu strong gyrase site (SGS): significance of the SGS right arm in Mu biology and DNA gyrase mechanism.

The bacteriophage Mu strong gyrase site (SGS), required for efficient phage DNA replication, differs from other gyrase sites in the efficiency of gyrase binding coupled with a highly processive supercoiling activity. Genetic studies have implicated the right arm of the SGS as a key structural feature for promoting rapid Mu replication. Here, we show that deletion of the distal portion of the right arm abolishes efficient binding, cleavage, and supercoiling by DNA gyrase in vitro. DNase I footprinting analysis of the intact SGS revealed an adenylyl imidodiphosphate-dependent change in protection in the right arm, indicating that this arm likely forms the T segment that is passed through the cleaved G segment during the supercoiling reaction. Furthermore, in an SGS derivative with an altered right-arm sequence, the left arm showed these changes, suggesting that the selection of a T segment by gyrase is determined primarily by the sequences of the arms. Analysis of the sequences of the SGS and other gyrase sites suggests that the choice of T segment correlates with which arm possesses the more extensive set of phased anisotropic bending signals, with the Mu right arm possessing an unusually extended set of such signals. The implications of these observations for the structure of the gyrase-DNA complex and for the biological function of the Mu SGS are discussed.

Bacteriophage mu↗

CNV subtype in first eyes predicts severity of ARM in fellow eyes.

AIM: To examine the relation between the type of choroidal neovascularisation (CNV) in the first eye and age related maculopathy (ARM) severity in the fellow eye. METHODS: Colour fundus photographs and fluorescein angiograms from 67 subjects with a clinical diagnosis of CNV in one eye were scrutinised. CNV was classified as wholly classic, predominantly classic, minimally classic, or occult based on the proportion of classic leakage within the lesion. ARM changes in the fellow eye were assigned a severity stage using the system described by the Rotterdam Eye Study. Logistic regression analysis was employed to examine the association between CNV subtype and ARM stage. RESULTS: Of subjects with classic or predominantly classic CNV in the first eye 78% exhibited least no or early ARM features in the fellow eye. By contrast, 85% of subjects with minimally classic or occult CNV in the first eye exhibited more advanced ARM features in the fellow eye. Kruskall-Wallis one way ANOVA by ranks showed that this was highly significant (p = 0.002). Logistic regression analysis showed that as the proportion of occult CNV increased in the first eye, fellow eyes of subjects in this category were more likely to have been assigned to a higher ARM stage (p = 0.019). The area occupied by the CNV in the first eye also influenced severity of ARM changes in the fellow eye. CONCLUSION: The type and extent of CNV in the first affected eye has a distinct relation to ARM severity in the fellow eye. Fellow eyes of subjects with minimally classic or occult CNV in the first affected eye show widespread ARM changes suggestive of retinal pigment epithelial dysfunction. These findings suggest that classic CNV may be focal disease while occult CNV is essentially a more widespread retinal pigment epithelial disorder.

Aged↗

Dynamic model of the octopus arm. II. Control of reaching movements.

The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Animals↗