<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
a	O
class	O
of	O
mechanoreceptors	O
found	O
in	O
insects	O
,	O
which	O
respond	O
to	O
local	O
stress	O
and	O
strain	O
within	O
the	O
animal	O
's	O
cuticle	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
function	O
as	O
proprioceptors	O
that	O
detect	O
mechanical	O
load	O
as	O
resistance	O
to	O
muscle	O
contraction	O
,	O
similar	O
to	O
mammalian	O
Golgi	O
tendon	O
organs	O
.	O
</s>
<s>
Sensory	O
feedback	O
from	O
campaniform	B-Algorithm
sensilla	I-Algorithm
is	O
integrated	O
in	O
the	O
control	O
of	O
posture	O
and	O
locomotion	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
often	O
oval-shaped	O
with	O
long	O
axes	O
of	O
about	O
5-10µm	O
(	O
see	O
SEM	O
)	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
distributed	O
across	O
the	O
body	O
surface	O
of	O
many	O
insects	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
located	O
in	O
regions	O
where	O
stress	O
is	O
likely	O
to	O
be	O
high	O
,	O
including	O
on	O
the	O
legs	O
,	O
antennae	O
,	O
wings	O
,	O
and	O
halteres	O
.	O
</s>
<s>
On	O
the	O
legs	O
,	O
groups	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
located	O
close	O
to	O
the	O
joints	O
on	O
all	O
segments	O
except	O
for	O
the	O
coxa	O
(	O
see	O
leg	O
schematic	O
)	O
,	O
with	O
most	O
sensilla	O
located	O
on	O
the	O
proximal	O
trochanter	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
typically	O
occur	O
on	O
both	O
sides	O
of	O
the	O
wing	O
(	O
see	O
wing	O
schematic	O
)	O
.	O
</s>
<s>
However	O
,	O
across	O
species	O
,	O
most	O
campaniform	B-Algorithm
sensilla	I-Algorithm
are	O
found	O
near	O
the	O
wing	O
base	O
.	O
</s>
<s>
In	O
Diptera	O
such	O
as	O
Drosophila	O
,	O
the	O
highest	O
density	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
is	O
found	O
at	O
the	O
base	O
of	O
the	O
modified	O
hind-wings	O
,	O
the	O
halteres	O
(	O
see	O
haltere	O
schematic	O
)	O
.	O
</s>
<s>
The	O
activity	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
was	O
first	O
recorded	O
by	O
John	O
William	O
Sutton	O
Pringle	O
in	O
the	O
late	O
1930s	O
.	O
</s>
<s>
For	O
example	O
,	O
stick	O
insects	O
possess	O
two	O
groups	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
on	O
the	O
dorsal	O
side	O
of	O
their	O
legs	O
 '	O
trochanter	O
whose	O
short	O
axes	O
are	O
oriented	O
perpendicularly	O
to	O
one	O
another	O
(	O
see	O
inset	O
in	O
leg	O
schematic	O
)	O
.	O
</s>
<s>
Round	O
campaniform	B-Algorithm
sensilla	I-Algorithm
can	O
be	O
sensitive	O
in	O
all	O
directions	O
or	O
show	O
directional	O
sensitivity	O
if	O
the	O
cap	O
is	O
asymmetrically	O
coupled	O
with	O
the	O
surrounding	O
collar	O
.	O
</s>
<s>
The	O
activity	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
may	O
be	O
slowly-adapting	O
(	O
tonic	O
)	O
,	O
signaling	O
the	O
magnitude	O
of	O
cuticular	O
deformation	O
,	O
and/or	O
rapidly	O
adapting	O
(	O
phasic	O
)	O
,	O
signaling	O
the	O
rate	O
of	O
cuticular	O
deformation	O
.	O
</s>
<s>
Based	O
on	O
their	O
responses	O
to	O
white	O
noise	O
stimuli	O
,	O
campaniform	B-Algorithm
sensilla	I-Algorithm
may	O
also	O
be	O
described	O
more	O
generally	O
as	O
signaling	O
two	O
features	O
that	O
approximate	O
the	O
derivative	O
of	O
each	O
other	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
project	O
directly	O
to	O
motor	O
neurons	O
and	O
to	O
various	O
interneurons	O
,	O
which	O
integrate	O
their	O
signals	O
with	O
signals	O
from	O
other	O
proprioceptors	O
.	O
</s>
<s>
In	O
this	O
way	O
,	O
campaniform	B-Algorithm
sensilla	I-Algorithm
activity	O
can	O
affect	O
the	O
magnitude	O
and	O
timing	O
of	O
muscle	O
contractions	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
on	O
the	O
legs	O
are	O
activated	O
during	O
standing	O
and	O
walking	O
.	O
</s>
<s>
Feedback	O
from	O
leg	O
campaniform	B-Algorithm
sensilla	I-Algorithm
is	O
also	O
important	O
for	O
the	O
control	O
of	O
kicking	O
and	O
jumping	O
.	O
</s>
<s>
Campaniform	B-Algorithm
sensilla	I-Algorithm
on	O
the	O
wings	O
and	O
halteres	O
are	O
activated	O
as	O
these	O
structures	O
oscillate	O
back	O
and	O
forth	O
during	O
flight	O
,	O
with	O
the	O
phase	O
of	O
activation	O
depending	O
on	O
the	O
placement	O
of	O
the	O
sensilla	O
.	O
</s>
<s>
The	O
campaniform	B-Algorithm
sensilla	I-Algorithm
on	O
the	O
wing	O
encode	O
the	O
wing	O
's	O
aerodynamic	O
and	O
inertial	O
forces	O
,	O
whereas	O
sensilla	O
on	O
the	O
base	O
of	O
the	O
haltere	O
are	O
thought	O
to	O
encode	O
Coriolis	O
forces	O
induced	O
by	O
body	O
rotation	O
during	O
flight	O
,	O
allowing	O
the	O
structure	O
to	O
function	O
as	O
a	O
gyroscope	B-Application
.	O
</s>
<s>
Feedback	O
from	O
wing	O
and	O
haltere	O
campaniform	B-Algorithm
sensilla	I-Algorithm
is	O
thought	O
to	O
mediate	O
compensatory	O
reflexes	O
to	O
maintain	O
equilibrium	O
during	O
flight	O
.	O
</s>
<s>
To	O
better	O
understand	O
the	O
function	O
of	O
campaniform	B-Algorithm
sensilla	I-Algorithm
,	O
computational	O
models	O
that	O
mimic	O
their	O
response	O
properties	O
are	O
being	O
developed	O
for	O
use	O
in	O
simulations	O
and	O
robotics	O
.	O
</s>
