Kinematic analysis of the defense response in crayfish

1. A threatening visual stimulus frequently elicits the defense response (DR) in crayfish, a behavior that comprises orienting the body to face the stimulus, raising the thorax, and extending and opening the claws. Although this behavior has been reported previously, its kinematics have not been characterized. This work employs kinematic analysis to provide a quantitative description of the claw (cheliped) as it is moved during the DR. 2. The cheliped was modeled as an open kinematic chain with three segments and 4 df. Simulations employing the model were compared with actual cheliped trajectories during the DR to ascertain the applicability of the model. The model was then employed to demonstrate the effects of individual joint rotations on the overall trajectory of the claw. 3. The individual segments of the cheliped were monitored during the DR, and spatial trajectories, tangential velocities, and intersegmental joint angles were calculated. 4. The joint angles assumed at the final position of the DR were highly stereotyped. This constancy in joint angle at the endpoint of the movement stands in contrast to the variability in both the angular and spatial trajectories of the cheliped as it was moved towards the final position. 5. Movement time was relatively constant. Larger amplitude movements were performed with a proportional increase in velocity similar to arm movements in primates. 6. The DR positions the cheliped in a fixed location in the workspace. Unlike the primate arm during reaching, the cheliped does not proceed towards the endpoint with a smooth controlled trajectory characteristic of a system with fine interjoint coordination. Instead, it appears that individual joint rotations are performed independently, thus precluding trajectory control although permitting an accurate specification of the endpoint.