Biomechanics: robotic whiskers used to sense features

Whiskers mimicking those of seals or rats might be useful for underwater tracking or tactile exploration. Several species of terrestrial and marine mammals with whiskers (vibrissae) use them to sense and navigate in their environment--for example, rats use their whiskers to discern the features of objects, and seals rely on theirs to track the hydrodynamic trails of their prey. Here we show that the bending moment--sometimes referred to as torque--at the whisker base can be used to generate three-dimensional spatial representations of the environment, and we use this principle to construct robotic whisker arrays that extract precise information about object shape and fluid flow. Our results will contribute to the development of versatile tactile-sensing systems for robotic applications, and demonstrate the value of hardware models in understanding how sensing mechanisms and movement control strategies are interlocked.     

Biomechanics: a pneumo-hydrostatic skeleton in land crabs

Like their aquatic counterparts, terrestrial crabs repeatedly shed their rigid exoskeleton during moulting. But in the case of land crabs, little water is available to provide a temporary hydrostatic skeleton before the new skeleton hardens, and air does not provide the buoyancy necessary to support the animal. Here we show that whenever its exoskeleton is shed, the blackback land crab Gecarcinus lateralis relies on an unconventional type of hydrostatic skeleton that uses both gas and liquid (a 'pneumo-hydrostat'). To our knowledge, this is the first experimental evidence for a locomotor skeleton that depends on a gas. It establishes a new category of hydrostatic skeletal support and possibly a critical adaptation to life on land for the Crustacea.     

Biomechanics: hydrodynamic function of the shark's tail

The tail of most sharks has an elongated upper lobe that differs from the externally symmetrical tail structure common among bony fishes, but the hydrodynamic purpose of this asymmetric tail shape is unclear. Here we quantify water flow patterns in the wakes of freely swimming dogfish sharks and find that they have a ring-within-a-ring vortex structure, in contrast to the single rings shed by symmetrical fish tails. The branched-ring vortex is generated by the inclined angle of the tail's trailing edge and by its motion at an angle to the horizontal body axis; the vortex directs water backwards and downwards, which may increase the shark's vertical manoeuvrability.