Motor neurons generate pose-targeted movements via proprioceptive sculpting

Gorko, Benjamin; Siwanowicz, Igor; Close, Kari; Christoforou, Christina; Hibbard, Karen L.; Kabra, Mayank; Lee, Allen; Park, Jin-Yong; Li, Si Ying; Chen, Alex B.; Namiki, Shigehiro; Chen, Chenghao; Tuthill, John C.; Bock, Davi D.; Rouault, Hervé; Branson, Kristin; Ihrke, Gudrun; Huston, Stephen J.

doi:10.1038/s41586-024-07222-5

Cited by 12 publications

(1 citation statement)

References 56 publications

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“…Compared with the wings, it is less clear how the head might respond to asynchronous haltere input. Recent work has shown that head movements follow a position-dependent control scheme [34], with activation of particular motoneurons capable of driving movements in different directions depending upon proprioceptive inputs from neck chordotonal organs [71]. Input from the halteres is necessary to adjust the gain of the head optomotor response to different pattern velocities [40], and self-generated body rotations are accompanied by larger amplitude head movements than imposed body rotations [36].…”

Section: (C) Active Attenuation Of Wing and Gaze Optomotor Responses ...mentioning

confidence: 99%

Asynchronous haltere input drives specific wing and head movements in Drosophila

Rauscher,

Fox

2024

Proc. R. Soc. B.

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Halteres are multifunctional mechanosensory organs unique to the true flies (Diptera). A set of reduced hindwings, the halteres beat at the same frequency as the lift-generating forewings and sense inertial forces via mechanosensory campaniform sensilla. Though haltere ablation makes stable flight impossible, the specific role of wing-synchronous input has not been established. Using small iron filings attached to the halteres of tethered flies and an alternating electromagnetic field, we experimentally decoupled the wings and halteres of flying Drosophila and observed the resulting changes in wingbeat amplitude and head orientation. We find that asynchronous haltere input results in fast amplitude changes in the wing (hitches), but does not appreciably move the head. In multi-modal experiments, we find that wing and gaze optomotor responses are disrupted differently by asynchronous input. These effects of wing-asynchronous haltere input suggest that specific sensory information is necessary for maintaining wing amplitude stability and adaptive gaze control.

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Section: (C) Active Attenuation Of Wing and Gaze Optomotor Responses ...mentioning

confidence: 99%

Asynchronous haltere input drives specific wing and head movements in Drosophila

Rauscher,

Fox

2024

Proc. R. Soc. B.

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3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium

Fang,

Tang,

et al. 2024

Advanced Science

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The human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabilities utilizing the inherent compliance, the simultaneous‐sensing approaches typically involve adding sensing components or embedding certain‐signal‐field substrates, resulting in structural complexity and discrepant deformations between the actuation parts with high‐dimensional motions and the sensing parts with heterogeneous stiffnesses. Inspired by the muscle‐bundle multifiber mechanism, a multicavity functional integration (McFI) approach is proposed for soft pneumatic actuators to simultaneously realize multidimensional motions and sensing by separating and coordinating active and passive cavities. A bio‐inspired interweaving foldable endomysium (BIFE) is introduced to construct and reinforce the multicavity chamber with optimized purposive foldability, enabling 3D printing single‐material fabrication. Performing elongation, contraction, and bidirectional bending, the McFI actuator senses its spatial position, orientation, and axial force, based on the kinematic and sensing models built on multi‐cavity pressures. Two McFI‐actuator‐driven robots are built: a soft crawling robot with path reconstruction and a narrow‐maneuverable soft gripper with object exteroception, validating the practicality in stand‐alone use of the actuator and the potential for intelligent soft robotic innovation of the McFI approach.

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