A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles
Figure 12
Representative stimulation pulses and electrical current flow through the retraction muscle group.
(A) A positive stimulation pulse train of 1.5 V, 100 Hz, and a 1 ms pulse width produced by the function generator was applied between the two electrodes inserted in the retraction muscle group of a beetle's front leg. (B) Typical current wave that passed through the beetle's muscle (depression muscle group of the front leg).