{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T01:08:52Z","timestamp":1772932132970,"version":"3.50.1"},"reference-count":90,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T00:00:00Z","timestamp":1767916800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T00:00:00Z","timestamp":1767916800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"funder":[{"name":"Ubbo Emmius Funds"},{"name":"CogniGron research center"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"DOI":"10.1007\/s00422-025-01029-x","type":"journal-article","created":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T02:43:21Z","timestamp":1767926601000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Encoding of movement primitives and body posture through distributed proprioception in walking and climbing insects"],"prefix":"10.1007","volume":"120","author":[{"given":"Thomas","family":"van der Veen","sequence":"first","affiliation":[]},{"given":"Volker","family":"D\u00fcrr","sequence":"additional","affiliation":[]},{"given":"Elisabetta","family":"Chicca","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2026,1,9]]},"reference":[{"issue":"9","key":"1029_CR1","doi-asserted-by":"publisher","first-page":"2099","DOI":"10.1152\/jn.00281.2013","volume":"110","author":"JM Ache","year":"2013","unstructured":"Ache JM, D\u00fcrr V (2013) Encoding of near-range spatial information by descending interneurons in the stick insect antennal mechanosensory pathway. J Neurophysiol 110(9):2099\u20132112","journal-title":"J Neurophysiol"},{"key":"1029_CR2","doi-asserted-by":"crossref","unstructured":"Baird E, Srinivasan MV, Zhang S et al (2006) Visual control of flight speed and height in the honeybee. In: From Animals to Animats 9: 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Rome, Italy, September 25-29, 2006. Proceedings 9, Springer, pp 40\u201351","DOI":"10.1007\/11840541_4"},{"issue":"2","key":"1029_CR3","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1007\/BF00337264","volume":"25","author":"U B\u00e4ssler","year":"1977","unstructured":"B\u00e4ssler U (1977) Sensory control of leg movement in the stick insect Carausius morosus. Biol Cybern 25(2):61\u201372","journal-title":"Biol Cybern"},{"issue":"1","key":"1029_CR4","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1242\/jeb.116.1.301","volume":"116","author":"U B\u00e4ssler","year":"1985","unstructured":"B\u00e4ssler U, Foth E, Breutel G (1985) The inherent walking direction differs for the prothoracic and metathoracic legs of stick insects. J Exp Biol 116(1):301\u2013311","journal-title":"J Exp Biol"},{"issue":"4","key":"1029_CR5","doi-asserted-by":"publisher","first-page":"168","DOI":"10.1007\/BF00272314","volume":"2","author":"VU B\u00e4ssler","year":"1965","unstructured":"B\u00e4ssler VU (1965) Proprioreceptoren am subcoxal-und femur-tibia-gelenk der stabheuschrecke carausius morosus und ihre rolle bei der wahrnehmung der schwerkraftrichtung. Kybernetik 2(4):168\u2013193","journal-title":"Kybernetik"},{"issue":"3","key":"1029_CR6","doi-asserted-by":"publisher","first-page":"356","DOI":"10.1162\/neco.1992.4.3.356","volume":"4","author":"RD Beer","year":"1992","unstructured":"Beer RD, Chiel HJ, Quinn RD et al (1992) A distributed neural network architecture for hexapod robot locomotion. Neural Comput 4(3):356\u2013365","journal-title":"Neural Comput"},{"key":"1029_CR7","doi-asserted-by":"publisher","first-page":"479","DOI":"10.1007\/s00114-013-1042-5","volume":"100","author":"A Ben-Nun","year":"2013","unstructured":"Ben-Nun A, Guershon M, Ayali A (2013) Self body-size perception in an insect. Naturwissenschaften 100:479\u2013484","journal-title":"Naturwissenschaften"},{"issue":"24","key":"1029_CR8","doi-asserted-by":"publisher","first-page":"8067","DOI":"10.1523\/JNEUROSCI.16-24-08067.1996","volume":"16","author":"A Berkowitz","year":"1996","unstructured":"Berkowitz A, Laurent G (1996) Local control of leg movements and motor patterns during grooming in locusts. J Neurosci 16(24):8067\u20138078","journal-title":"J Neurosci"},{"key":"1029_CR9","unstructured":"Bernstein NA (1967) The co-ordination and regulation of movements"},{"issue":"10","key":"1029_CR10","doi-asserted-by":"publisher","first-page":"442","DOI":"10.1016\/0166-2236(95)94494-P","volume":"18","author":"E Bizzi","year":"1995","unstructured":"Bizzi E, Giszter SF, Loeb E et al (1995) Modular organization of motor behavior in the frog\u2019s spinal cord. Trends Neurosci 18(10):442\u2013446","journal-title":"Trends Neurosci"},{"issue":"8","key":"1029_CR11","doi-asserted-by":"publisher","first-page":"1273","DOI":"10.1242\/jeb.00888","volume":"207","author":"B Bl\u00e4sing","year":"2004","unstructured":"Bl\u00e4sing B, Cruse H (2004) Stick insect locomotion in a complex environment: climbing over large gaps. J Exp Biol 207(8):1273\u20131286","journal-title":"J Exp Biol"},{"issue":"1","key":"1029_CR12","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1016\/j.humov.2009.03.003","volume":"29","author":"T Bockem\u00fchl","year":"2010","unstructured":"Bockem\u00fchl T, Troje NF, D\u00fcrr V (2010) Inter-joint coupling and joint angle synergies of human catching movements. Hum Mov Sci 29(1):73\u201393","journal-title":"Hum Mov Sci"},{"issue":"3","key":"1029_CR13","doi-asserted-by":"publisher","first-page":"1208","DOI":"10.1152\/jn.1994.72.3.1208","volume":"72","author":"DE Brunn","year":"1994","unstructured":"Brunn DE, Dean J (1994) Intersegmental and local interneurons in the metathorax of the stick insect carausius morosus that monitor middle leg position. J Neurophysiol 72(3):1208\u20131219","journal-title":"J Neurophysiol"},{"key":"1029_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00422-006-0068-6","volume":"95","author":"AN Burkitt","year":"2006","unstructured":"Burkitt AN (2006) A review of the integrate-and-fire neuron model: I. Homogeneous synaptic input. Biol Cybern 95:1\u201319","journal-title":"Biol Cybern"},{"key":"1029_CR15","doi-asserted-by":"publisher","DOI":"10.1093\/acprof:oso\/9780198523444.001.0001","volume-title":"The Neurobiology of an Insect Brain","author":"M Burrows","year":"1996","unstructured":"Burrows M (1996) The Neurobiology of an Insect Brain. Oxford University Press"},{"issue":"4560","key":"1029_CR16","doi-asserted-by":"publisher","first-page":"650","DOI":"10.1126\/science.7089585","volume":"217","author":"M Burrows","year":"1982","unstructured":"Burrows M, Siegler M (1982) Spiking local interneurons mediate local reflexes. Science 217(4560):650\u2013652","journal-title":"Science"},{"issue":"1","key":"1029_CR17","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1242\/jeb.144.1.81","volume":"144","author":"A B\u00fcschges","year":"1989","unstructured":"B\u00fcschges A (1989) Processing of sensory input from the femoral chordotonal organ by spiking interneurones of stick insects. J Exp Biol 144(1):81\u2013111","journal-title":"J Exp Biol"},{"issue":"1","key":"1029_CR18","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1242\/jeb.151.1.133","volume":"151","author":"A B\u00fcschges","year":"1990","unstructured":"B\u00fcschges A (1990) Nonspiking pathways in a joint-control loop of the stick insect Carausius morosus. J Exp Biol 151(1):133\u2013160","journal-title":"J Exp Biol"},{"issue":"3","key":"1029_CR19","doi-asserted-by":"publisher","first-page":"975","DOI":"10.1152\/physrev.00009.2024","volume":"105","author":"A B\u00fcschges","year":"2025","unstructured":"B\u00fcschges A, Ache JM (2025) Motor control on the move: from insights in insects to general mechanisms. Physiol Rev 105(3):975\u20131031","journal-title":"Physiol Rev"},{"issue":"1","key":"1029_CR20","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1186\/s12864-019-6413-7","volume":"21","author":"D Chicco","year":"2020","unstructured":"Chicco D, Jurman G (2020) The advantages of the Matthews correlation coefficient (MCC) over F1 score and accuracy in binary classification evaluation. BMC Genomics 21(1):1\u201313","journal-title":"BMC Genomics"},{"key":"1029_CR21","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1007\/BF00606541","volume":"112","author":"H Cruse","year":"1976","unstructured":"Cruse H (1976) The function of the legs in the free walking stick insect, Carausius morosus. J Comp Physiol 112:235\u2013262","journal-title":"J Comp Physiol"},{"issue":"2","key":"1029_CR22","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1111\/j.1365-3032.1979.tb00186.x","volume":"4","author":"H Cruse","year":"1979","unstructured":"Cruse H (1979) The control of the anterior extreme position of the hindleg of a walking insect, Carausius morosus. Physiol Entomol 4(2):121\u2013124","journal-title":"Physiol Entomol"},{"issue":"1","key":"1029_CR23","doi-asserted-by":"publisher","first-page":"357","DOI":"10.1242\/jeb.116.1.357","volume":"116","author":"H Cruse","year":"1985","unstructured":"Cruse H (1985) Which parameters control the leg movement of a walking insect?: II. The start of the swing phase. J Exp Biol 116(1):357\u2013362","journal-title":"J Exp Biol"},{"issue":"7\u20138","key":"1029_CR24","doi-asserted-by":"publisher","first-page":"1435","DOI":"10.1016\/S0893-6080(98)00067-7","volume":"11","author":"H Cruse","year":"1998","unstructured":"Cruse H, Kindermann T, Schumm M et al (1998) Walknet-a biologically inspired network to control six-legged walking. Neural Netw 11(7\u20138):1435\u20131447","journal-title":"Neural Netw"},{"issue":"7","key":"1029_CR25","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.188748","volume":"222","author":"CJ Dallmann","year":"2019","unstructured":"Dallmann CJ, D\u00fcrr V, Schmitz J (2019) Motor control of an insect leg during level and incline walking. J Exp Biol 222(7):jeb188748","journal-title":"J Exp Biol"},{"key":"1029_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.cophys.2021.03.001","volume":"22","author":"CJ Dallmann","year":"2021","unstructured":"Dallmann CJ, Karashchuk P, Brunton BW et al (2021) A leg to stand on: computational models of proprioception. Curr Opin Physiol 22:100426","journal-title":"Curr Opin Physiol"},{"issue":"2","key":"1029_CR27","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1007\/BF00203033","volume":"63","author":"J Dean","year":"1990","unstructured":"Dean J (1990) Coding proprioceptive information to control movement to a target: simulation with a simple neural network. Biol Cybern 63(2):115\u2013120","journal-title":"Biol Cybern"},{"key":"1029_CR28","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1007\/BF00619126","volume":"148","author":"J Dean","year":"1982","unstructured":"Dean J, Wendler G (1982) Stick insects walking on a wheel: perturbations induced by obstruction of leg protraction. J Comp Physiol 148:195\u2013207","journal-title":"J Comp Physiol"},{"issue":"6681","key":"1029_CR29","doi-asserted-by":"publisher","first-page":"172","DOI":"10.1038\/30251","volume":"393","author":"TG Deliagina","year":"1998","unstructured":"Deliagina TG, Arshavsky YI, Orlovsky GN (1998) Control of spatial orientation in a mollusc. Nature 393(6681):172\u2013175","journal-title":"Nature"},{"issue":"9","key":"1029_CR30","doi-asserted-by":"publisher","first-page":"1589","DOI":"10.1242\/jeb.204.9.1589","volume":"204","author":"V D\u00fcrr","year":"2001","unstructured":"D\u00fcrr V (2001) Stereotypic leg searching movements in the stick insect: kinematic analysis, behavioural context and simulation. J Exp Biol 204(9):1589\u20131604","journal-title":"J Exp Biol"},{"issue":"12","key":"1029_CR31","doi-asserted-by":"publisher","first-page":"2253","DOI":"10.1242\/jeb.01638","volume":"208","author":"V D\u00fcrr","year":"2005","unstructured":"D\u00fcrr V (2005) Context-dependent changes in strength and efficacy of leg coordination mechanisms. J Exp Biol 208(12):2253\u20132267","journal-title":"J Exp Biol"},{"issue":"3","key":"1029_CR32","doi-asserted-by":"publisher","first-page":"1754","DOI":"10.1152\/jn.00416.2003","volume":"90","author":"V D\u00fcrr","year":"2003","unstructured":"D\u00fcrr V, Matheson T (2003) Graded limb targeting in an insect is caused by the shift of a single movement pattern. J Neurophysiol 90(3):1754\u20131765","journal-title":"J Neurophysiol"},{"key":"1029_CR33","doi-asserted-by":"publisher","DOI":"10.3389\/fncom.2018.00101","volume":"12","author":"V D\u00fcrr","year":"2018","unstructured":"D\u00fcrr V, Schilling M (2018) Transfer of spatial contact information among limbs and the notion of peripersonal space in insects. Front Comput Neurosci 12:101","journal-title":"Front Comput Neurosci"},{"issue":"3","key":"1029_CR34","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1016\/j.asd.2004.05.004","volume":"33","author":"V D\u00fcrr","year":"2004","unstructured":"D\u00fcrr V, Schmitz J, Cruse H (2004) Behaviour-based modelling of hexapod locomotion: linking biology and technical application. Arthropod Struct Dev 33(3):237\u2013250","journal-title":"Arthropod Struct Dev"},{"key":"1029_CR35","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00265-017-2412-3","volume":"72","author":"V D\u00fcrr","year":"2018","unstructured":"D\u00fcrr V, Theunissen LM, Dallmann CJ et al (2018) Motor flexibility in insects: adaptive coordination of limbs in locomotion and near-range exploration. Behav Ecol Sociobiol 72:1\u201321","journal-title":"Behav Ecol Sociobiol"},{"issue":"88","key":"1029_CR36","first-page":"10","volume":"13","author":"V D\u00fcrr","year":"2019","unstructured":"D\u00fcrr V et al (2019) Integrative biomimetics of autonomous hexapedal locomotion front. Neurorobot 13(88):10\u20133389","journal-title":"Neurorobot"},{"issue":"4","key":"1029_CR37","doi-asserted-by":"publisher","first-page":"292","DOI":"10.1038\/nrn2258","volume":"9","author":"AA Faisal","year":"2008","unstructured":"Faisal AA, Selen LP, Wolpert DM (2008) Noise in the nervous system. Nat Rev Neurosci 9(4):292\u2013303","journal-title":"Nat Rev Neurosci"},{"issue":"6","key":"1029_CR38","doi-asserted-by":"publisher","first-page":"660","DOI":"10.1016\/j.conb.2005.10.011","volume":"15","author":"T Flash","year":"2005","unstructured":"Flash T, Hochner B (2005) Motor primitives in vertebrates and invertebrates. Curr Opin Neurobiol 15(6):660\u2013666","journal-title":"Curr Opin Neurobiol"},{"issue":"3","key":"1029_CR39","doi-asserted-by":"publisher","first-page":"425","DOI":"10.1016\/j.neuron.2011.10.006","volume":"72","author":"DW Franklin","year":"2011","unstructured":"Franklin DW, Wolpert DM (2011) Computational mechanisms of sensorimotor control. Neuron 72(3):425\u2013442","journal-title":"Neuron"},{"key":"1029_CR40","doi-asserted-by":"publisher","first-page":"2","DOI":"10.3389\/fnbot.2022.645683","volume":"16","author":"A Fukuhara","year":"2022","unstructured":"Fukuhara A, Suda W, Kano T et al (2022) Adaptive interlimb coordination mechanism for hexapod locomotion based on active load sensing. Front Neurorobot 16:2","journal-title":"Front Neurorobot"},{"issue":"1","key":"1029_CR41","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.246182","volume":"227","author":"C Gebehart","year":"2024","unstructured":"Gebehart C, B\u00fcschges A (2024) The processing of proprioceptive signals in distributed networks: insights from insect motor control. J Exp Biol 227(1):jeb246182","journal-title":"J Exp Biol"},{"issue":"17","key":"1029_CR42","doi-asserted-by":"publisher","first-page":"3847","DOI":"10.1016\/j.cub.2022.07.005","volume":"32","author":"C Gebehart","year":"2022","unstructured":"Gebehart C, Hooper SL, B\u00fcschges A (2022) Non-linear multimodal integration in a distributed premotor network controls proprioceptive reflex gain in the insect leg. Curr Biol 32(17):3847\u20133854","journal-title":"Curr Biol"},{"issue":"2","key":"1029_CR43","doi-asserted-by":"publisher","first-page":"230","DOI":"10.1002\/cne.22676","volume":"520","author":"J Goldammer","year":"2012","unstructured":"Goldammer J, B\u00fcschges A, Schmidt J (2012) Motoneurons, dum cells, and sensory neurons in an insect thoracic ganglion: a tracing study in the stick insect Carausius morosus. J Comp Neurol 520(2):230\u2013257","journal-title":"J Comp Neurol"},{"key":"1029_CR44","doi-asserted-by":"crossref","unstructured":"Gollin A, D\u00fcrr V (2018) Estimating body pitch from distributed proprioception in a hexapod. In: Biomimetic and Biohybrid Systems: 7th International Conference, Living Machines 2018, Paris, France, July 17\u201320, 2018, Proceedings 7, Springer, pp 187\u2013199","DOI":"10.1007\/978-3-319-95972-6_20"},{"key":"1029_CR45","doi-asserted-by":"publisher","first-page":"405","DOI":"10.1146\/annurev-neuro-112723-042229","volume":"48","author":"M Goulding","year":"2025","unstructured":"Goulding M, Bollu T, B\u00fcschges A (2025) Sensory feedback and the dynamic control of movement. Annu Rev Neurosci 48:405\u2013423","journal-title":"Annu Rev Neurosci"},{"issue":"24","key":"1029_CR46","first-page":"4255","volume":"215","author":"M Grabowska","year":"2012","unstructured":"Grabowska M, Godlewska E, Schmidt J et al (2012) Quadrupedal gaits in hexapod animals-inter-leg coordination in free-walking adult stick insects. J Exp Biol 215(24):4255\u20134266","journal-title":"J Exp Biol"},{"issue":"1","key":"1029_CR47","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1242\/jeb.92.1.229","volume":"92","author":"D Graham","year":"1981","unstructured":"Graham D, Cruse H (1981) Coordinated walking of stick insects on a mercury surface. J Exp Biol 92(1):229\u2013241","journal-title":"J Exp Biol"},{"issue":"18","key":"1029_CR48","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.244361","volume":"225","author":"Y G\u00fcnzel","year":"2022","unstructured":"G\u00fcnzel Y, Schmitz J, D\u00fcrr V (2022) Locomotor resilience through load-dependent modulation of muscle co-contraction. J Exp Biol 225(18):jeb244361","journal-title":"J Exp Biol"},{"issue":"1","key":"1029_CR49","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1242\/jeb.114.1.207","volume":"114","author":"T Hofmann","year":"1985","unstructured":"Hofmann T, Koch U, B\u00e4ssler U (1985) Physiology of the femoral chordotonal organ in the stick insect, Cuniculina impigra. J Exp Biol 114(1):207\u2013223","journal-title":"J Exp Biol"},{"issue":"5","key":"1029_CR50","doi-asserted-by":"publisher","first-page":"1063","DOI":"10.1109\/TNN.2004.832719","volume":"15","author":"EM Izhikevich","year":"2004","unstructured":"Izhikevich EM (2004) Which model to use for cortical spiking neurons? IEEE Trans Neural Netw 15(5):1063\u20131070","journal-title":"IEEE Trans Neural Netw"},{"key":"1029_CR51","doi-asserted-by":"publisher","DOI":"10.3389\/fnbeh.2012.00030","volume":"6","author":"AF Krause","year":"2012","unstructured":"Krause AF, D\u00fcrr V (2012) Active tactile sampling by an insect in a step-climbing paradigm. Front Behav Neurosci 6:30","journal-title":"Front Behav Neurosci"},{"issue":"11","key":"1029_CR52","doi-asserted-by":"publisher","first-page":"1833","DOI":"10.1016\/j.cub.2019.04.037","volume":"29","author":"T Krause","year":"2019","unstructured":"Krause T, Spindler L, Poeck B et al (2019) Drosophila acquires a long-lasting body-size memory from visual feedback. Curr Biol 29(11):1833\u20131841","journal-title":"Curr Biol"},{"issue":"9","key":"1029_CR53","doi-asserted-by":"publisher","first-page":"1659","DOI":"10.1016\/S0893-6080(97)00011-7","volume":"10","author":"W Maass","year":"1997","unstructured":"Maass W (1997) Networks of spiking neurons: the third generation of neural network models. Neural Netw 10(9):1659\u20131671","journal-title":"Neural Netw"},{"issue":"3","key":"1029_CR54","doi-asserted-by":"publisher","first-page":"636","DOI":"10.1016\/j.neuron.2018.09.009","volume":"100","author":"A Mamiya","year":"2018","unstructured":"Mamiya A, Gurung P, Tuthill JC (2018) Neural coding of leg proprioception in drosophila. Neuron 100(3):636\u2013650","journal-title":"Neuron"},{"issue":"2","key":"1029_CR55","doi-asserted-by":"publisher","first-page":"442","DOI":"10.1016\/0005-2795(75)90109-9","volume":"405","author":"BW Matthews","year":"1975","unstructured":"Matthews BW (1975) Comparison of the predicted and observed secondary structure of T4 phage lysozyme. Biochimica et Biophysica Acta (BBA)-Protein Structure 405(2):442\u2013451","journal-title":"Biochimica et Biophysica Acta (BBA)-Protein Structure"},{"issue":"17","key":"1029_CR56","doi-asserted-by":"publisher","first-page":"3570","DOI":"10.1523\/JNEUROSCI.1884-21.2022","volume":"42","author":"PE Musienko","year":"2022","unstructured":"Musienko PE, Lyalka VF, Gorskii OV et al (2022) Activity of spinal interneurons during forward and backward locomotion. J Neurosci 42(17):3570\u20133586","journal-title":"J Neurosci"},{"issue":"8","key":"1029_CR57","doi-asserted-by":"publisher","first-page":"R324","DOI":"10.1016\/j.cub.2013.03.012","volume":"23","author":"JE Niven","year":"2013","unstructured":"Niven JE (2013) Invertebrate neurobiology: short-term memories for limb targeting. Curr Biol 23(8):R324\u2013R326","journal-title":"Curr Biol"},{"issue":"1","key":"1029_CR58","doi-asserted-by":"publisher","first-page":"86","DOI":"10.1016\/j.cub.2009.10.079","volume":"20","author":"JE Niven","year":"2010","unstructured":"Niven JE, Buckingham CJ, Lumley S et al (2010) Visual targeting of forelimbs in ladder-walking locusts. Curr Biol 20(1):86\u201391","journal-title":"Curr Biol"},{"issue":"1743","key":"1029_CR59","first-page":"3697","volume":"279","author":"JE Niven","year":"2012","unstructured":"Niven JE, Ott SR, Rogers SM (2012) Visually targeted reaching in horse-head grasshoppers. Proc Biol Sci 279(1743):3697\u20133705","journal-title":"Proc Biol Sci"},{"issue":"12","key":"1029_CR60","doi-asserted-by":"publisher","first-page":"3897","DOI":"10.1523\/JNEUROSCI.0089-09.2009","volume":"29","author":"KL Page","year":"2009","unstructured":"Page KL, Matheson T (2009) Functional recovery of aimed scratching movements after a graded proprioceptive manipulation. J Neurosci 29(12):3897\u20133907","journal-title":"J Neurosci"},{"key":"1029_CR61","doi-asserted-by":"publisher","first-page":"559","DOI":"10.1007\/s00422-014-0596-4","volume":"108","author":"G Palm","year":"2014","unstructured":"Palm G, Knoblauch A, Hauser F et al (2014) Cell assemblies in the cerebral cortex. Biol Cybern 108:559\u2013572","journal-title":"Biol Cybern"},{"issue":"16","key":"1029_CR62","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.208553","volume":"222","author":"AJ Patel","year":"2019","unstructured":"Patel AJ, Matheson T (2019) Aimed limb movements in a hemimetabolous insect are intrinsically compensated for allometric wing growth by developmental mechanisms. J Exp Biol 222(16):jeb208553","journal-title":"J Exp Biol"},{"issue":"3","key":"1029_CR63","doi-asserted-by":"publisher","first-page":"1097","DOI":"10.1152\/jn.2002.88.3.1097","volume":"88","author":"RJ Peterka","year":"2002","unstructured":"Peterka RJ (2002) Sensorimotor integration in human postural control. J Neurophysiol 88(3):1097\u20131118","journal-title":"J Neurophysiol"},{"issue":"16","key":"1029_CR64","doi-asserted-by":"publisher","first-page":"1473","DOI":"10.1016\/j.cub.2005.07.022","volume":"15","author":"S Pick","year":"2005","unstructured":"Pick S, Strauss R (2005) Goal-driven behavioral adaptations in gap-climbing drosophila. Curr Biol 15(16):1473\u20131478","journal-title":"Curr Biol"},{"key":"1029_CR65","unstructured":"Powers DM (2020) Evaluation: from precision, recall and f-measure to roc, informedness, markedness and correlation. arXiv preprint arXiv:2010.16061"},{"key":"1029_CR66","doi-asserted-by":"crossref","unstructured":"Pratt BG, Dallmann CJ, Chou GM et\u00a0al (2025) Proprioceptive limit detectors mediate sensorimotor control of the drosophila leg. bioRxiv pp 2025\u201305","DOI":"10.1101\/2025.05.15.654260"},{"issue":"49","key":"1029_CR67","doi-asserted-by":"publisher","first-page":"31494","DOI":"10.1073\/pnas.2016872117","volume":"117","author":"S Ravi","year":"2020","unstructured":"Ravi S, Siesenop T, Bertrand O et al (2020) Bumblebees perceive the spatial layout of their environment in relation to their body size and form to minimize inflight collisions. Proc Natl Acad Sci USA 117(49):31494\u201331499","journal-title":"Proc Natl Acad Sci USA"},{"issue":"11","key":"1029_CR68","doi-asserted-by":"publisher","first-page":"1019","DOI":"10.1038\/14819","volume":"2","author":"M Riesenhuber","year":"1999","unstructured":"Riesenhuber M, Poggio T (1999) Hierarchical models of object recognition in cortex. Nat Neurosci 2(11):1019\u20131025","journal-title":"Nat Neurosci"},{"key":"1029_CR69","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1007\/BF00243395","volume":"177","author":"B Ronacher","year":"1995","unstructured":"Ronacher B, Wehner R (1995) Desert ants Cataglyphis fortis use self-induced optic flow to measure distances travelled. J Comp Physiol A 177:21\u201327","journal-title":"J Comp Physiol A"},{"key":"1029_CR70","doi-asserted-by":"crossref","unstructured":"Schaal S (2006) Dynamic movement primitives-a framework for motor control in humans and humanoid robotics. In: Adaptive motion of animals and machines. Springer, p 261\u2013280","DOI":"10.1007\/4-431-31381-8_23"},{"issue":"4","key":"1029_CR71","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1007804","volume":"16","author":"M Schilling","year":"2020","unstructured":"Schilling M, Cruse H (2020) Decentralized control of insect walking: a simple neural network explains a wide range of behavioral and neurophysiological results. PLoS Comput Biol 16(4):e1007804","journal-title":"PLoS Comput Biol"},{"issue":"4","key":"1029_CR72","doi-asserted-by":"publisher","first-page":"424","DOI":"10.1002\/(SICI)1097-4695(200003)42:4<424::AID-NEU4>3.0.CO;2-0","volume":"42","author":"J Schmitz","year":"2000","unstructured":"Schmitz J, Stein W (2000) Convergence of load and movement information onto leg motoneurons in insects. J Neurobiol 42(4):424\u2013436","journal-title":"J Neurobiol"},{"issue":"1581","key":"1029_CR73","doi-asserted-by":"publisher","first-page":"2996","DOI":"10.1098\/rstb.2011.0126","volume":"366","author":"C Sch\u00fctz","year":"2011","unstructured":"Sch\u00fctz C, D\u00fcrr V (2011) Active tactile exploration for adaptive locomotion in the stick insect. Philos Trans R Soc Lond B Biol Sci 366(1581):2996\u20133005","journal-title":"Philos Trans R Soc Lond B Biol Sci"},{"key":"1029_CR74","doi-asserted-by":"publisher","DOI":"10.7554\/eLife.02951","volume":"3","author":"AM Seeds","year":"2014","unstructured":"Seeds AM, Ravbar P, Chung P et al (2014) A suppression hierarchy among competing motor programs drives sequential grooming in drosophila. Elife 3:e02951","journal-title":"Elife"},{"issue":"6","key":"1029_CR75","doi-asserted-by":"publisher","first-page":"1281","DOI":"10.1152\/jn.1983.50.6.1281","volume":"50","author":"M Siegler","year":"1983","unstructured":"Siegler M, Burrows M (1983) Spiking local interneurons as primary integrators of mechanosensory information in the locust. J Neurophysiol 50(6):1281\u20131295","journal-title":"J Neurophysiol"},{"issue":"1","key":"1029_CR76","doi-asserted-by":"publisher","first-page":"512","DOI":"10.1152\/jn.1999.82.1.512","volume":"82","author":"W Stein","year":"1999","unstructured":"Stein W, Schmitz J (1999) Multimodal convergence of presynaptic afferent inhibition in insect proprioceptors. J Neurophysiol 82(1):512\u2013514","journal-title":"J Neurophysiol"},{"issue":"20","key":"1029_CR77","doi-asserted-by":"publisher","first-page":"3069","DOI":"10.1016\/j.cub.2017.08.052","volume":"27","author":"T Stone","year":"2017","unstructured":"Stone T, Webb B, Adden A et al (2017) An anatomically constrained model for path integration in the bee brain. Curr Biol 27(20):3069\u20133085","journal-title":"Curr Biol"},{"issue":"6","key":"1029_CR78","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ac1ced","volume":"16","author":"NS Szczecinski","year":"2021","unstructured":"Szczecinski NS, Dallmann CJ, Quinn RD et al (2021) A computational model of insect campaniform sensilla predicts encoding of forces during walking. Bioinspir Biomim 16(6):065001","journal-title":"Bioinspir Biomim"},{"issue":"12","key":"1029_CR79","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0085321","volume":"8","author":"LM Theunissen","year":"2013","unstructured":"Theunissen LM, D\u00fcrr V (2013) Insects use two distinct classes of steps during unrestrained locomotion. PLoS One 8(12):e85321","journal-title":"PLoS One"},{"issue":"18","key":"1029_CR80","first-page":"3242","volume":"217","author":"LM Theunissen","year":"2014","unstructured":"Theunissen LM, Vikram S, D\u00fcrr V (2014) Spatial co-ordination of foot contacts in unrestrained climbing insects. J Exp Biol 217(18):3242\u20133253","journal-title":"J Exp Biol"},{"issue":"3","key":"1029_CR81","first-page":"340","volume":"218","author":"LM Theunissen","year":"2015","unstructured":"Theunissen LM, Bekemeier HH, D\u00fcrr V (2015) Comparative whole-body kinematics of closely related insect species with different body morphology. J Exp Biol 218(3):340\u2013352","journal-title":"J Exp Biol"},{"issue":"6","key":"1029_CR82","doi-asserted-by":"publisher","first-page":"622","DOI":"10.1016\/j.conb.2008.01.002","volume":"17","author":"LH Ting","year":"2007","unstructured":"Ting LH, McKay JL (2007) Neuromechanics of muscle synergies for posture and movement. Curr Opin Neurobiol 17(6):622\u2013628","journal-title":"Curr Opin Neurobiol"},{"issue":"20","key":"1029_CR83","doi-asserted-by":"publisher","first-page":"R1022","DOI":"10.1016\/j.cub.2016.06.070","volume":"26","author":"JC Tuthill","year":"2016","unstructured":"Tuthill JC, Wilson RI (2016) Mechanosensation and adaptive motor control in insects. Curr Biol 26(20):R1022\u2013R1038","journal-title":"Curr Biol"},{"key":"1029_CR84","doi-asserted-by":"crossref","unstructured":"van\u00a0der Veen T, Cohen Y, Chicca E, D\u00fcrr V (2025) A spiking neural network model for fractional proprioceptive encoding of limb posture and movement in insects. Submitted to Biol Cybern","DOI":"10.1007\/s00422-025-01032-2"},{"key":"1029_CR85","unstructured":"Warner S (1990) Modern algebra. Courier Corporation"},{"issue":"5","key":"1029_CR86","doi-asserted-by":"publisher","first-page":"1861","DOI":"10.1152\/jn.1995.73.5.1861","volume":"73","author":"H Wolf","year":"1995","unstructured":"Wolf H, B\u00fcschges A (1995) Nonspiking local interneurons in insect leg motor control. II. Role of nonspiking local interneurons in the control of leg swing during walking. J Neurophysiol 73(5):1861\u20131875","journal-title":"J Neurophysiol"},{"issue":"7","key":"1029_CR87","doi-asserted-by":"publisher","DOI":"10.3390\/brainsci12070863","volume":"12","author":"K Yamazaki","year":"2022","unstructured":"Yamazaki K, Vo-Ho VK, Bulsara D et al (2022) Spiking neural networks and their applications: a review. Brain Sci 12(7):863","journal-title":"Brain Sci"},{"issue":"2","key":"1029_CR90","doi-asserted-by":"publisher","first-page":"198","DOI":"10.1152\/jn.00414.2023","volume":"131","author":"SN Zill","year":"2024","unstructured":"Zill SN, Dallmann CJ, Zyhowski W et al (2024) Mechanosensory encoding of forces in walking uphill and downhill: force feedback can stabilize leg movements in stick insects. J Neurophysiol 131(2):198\u2013215","journal-title":"J Neurophysiol"},{"key":"1029_CR88","doi-asserted-by":"publisher","unstructured":"Szczecinski NS, Webster-Wood V, Tresch M, Nourse WRP, Mura A, Quinn RD (eds) (2025) Biomimetic and Biohybrid Systems. Cham: Springer Nature Switzerland (Lecture Notesin Artificial Intelligence, 14930). https:\/\/doi.org\/10.1007\/978-3-031-72597-5","DOI":"10.1007\/978-3-031-72597-5"},{"issue":"3","key":"1029_CR89","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1016\/j.asd.2004.05.005","volume":"33","author":"S Zill","year":"2004","unstructured":"Zill S, Schmitz J, B\u00fcschges A (2004) Load sensing and control of posture and locomotion. Arthropod Struct Dev 33(3):273\u2013286","journal-title":"Arthropod Struct Dev"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-025-01029-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00422-025-01029-x","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-025-01029-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T06:01:49Z","timestamp":1772863309000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00422-025-01029-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,9]]},"references-count":90,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,2]]}},"alternative-id":["1029"],"URL":"https:\/\/doi.org\/10.1007\/s00422-025-01029-x","relation":{},"ISSN":["1432-0770"],"issn-type":[{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,9]]},"assertion":[{"value":"26 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"3"}}