Generalized locomotion of brittle stars with a flexible number of arms

Typical brittle stars have five radially symmetrical arms, which coordinate to move their body in a certain direction. However, some species of them show individual difference in the number of arms. We found this trait unique since intact legged animals each own a fixed number of limbs in general. How does a single species manage such different numbers of motile organs to realize adaptive locomotion? We here described four-, five-, six-, and seven-armed locomotion with the aim to generalize a common rule which is flexible with arm numbers in brittle stars. We mechanically stimulated an arm in Ophiactis brachyaspis to analyze escape direction and arm movements. Gathering quantitative indices and employing Bayesian statistical modeling, we figured out an average locomotion: regardless of the total number of arms, a front position emerges at one of the second neighboring arms to a mechanically stimulated arm, while side arms adjacent to the front synchronously work as left and right rowers. We suggest a model where some afferent signal runs either clockwise or anticlockwise along the nerve ring while linearly counting how many arms it passes. This idea would explain how left and right emerges in a radially symmetrical body via a decentralized system.