Strategies for swimming: explorations of the behaviour of a neuro-musculo-mechanical model of the lamprey

Experiments were performed on a neuro-musculo-mechanical model of a lamprey, to explore the strategies for controlling swimming speed. The muscle component of the model was based on previous experiments on isolated lamprey muscle. The patterns of muscle activation were those found in EMG studies on swimming lampreys. The fluid mechanics were modelled with G.I. Taylor's simplification. Tail beat frequencies of 2-6 sec(-1) were combined with muscle activation strengths of 0.1% to 20% of maximum tetanic isometric strength. The resulting forward swimming speed and changing body shape were recorded. From the changing body shape the speed of the backward-travelling wave of curvature was calculated, as well as the ratio between the speeds of the waves of activation and curvature. For any given activation strength there was a tail beat frequency that gave maximal forward speed. Furthermore, for all the combinations of activation strength and tail beat frequency that gave such maximum swimming speeds, the ratio of the speed of the wave of curvature to the wave of muscle activation was approximately 0.75. This is similar to the ratio found in swimming lampreys.