The influence of load and leg amputation upon coordination in walking crustaceans: A model calculation

The following results were obtained by earlier authors when investigating the leg coordination of walking crustaceans (Decepoda): 1) After a leg is amputated, its stump moves in anti-phase with the next posterior intact leg. This corresponds to the coordination of intact animals. The stump, however, moves in-phase with the next anterior intact leg which contrasts with the coordination of intact animals (Clarac and Chasserat, 1979; Clarac, 1981). 2) Different results have been reported for the relation between the return stroke duration and step period: some authors found a significant dependency (e.g. MacMillan, 1975), others found none (e.g. Ayers and Davis, 1977). The calculation presented here shows, that these results can be described by a model incorporating the following assumptions: A) The forces developed by both, return stroke and power stroke muscles depend upon the load under which the leg walks. B) The influences which produce the coordinating effects found by Clarac and Chasserat for amputees also exist in intact animals and their strength depends upon the intensity of the motor output of the controlling leg. Within the model the selection of protraction or retraction is made at a “central unit” which calculates a value corresponding to the sum of graded inputs from several sources. The resulting fluctuation in this value might be considered analogous to graded oscillations recorded from central non-spiking interneurons. Qualitatively the model describes similar results obtained from insects.