Fig. 4: Verification of body surface stimulation components.

a Multiple exposures and corresponding locomotion trajectories. By stimulating the left abdominal area, the subject turns to the left. Scale bar, 5 cm. b Insect-electrode impedance characteristics of the conventional implanted electrode and one adhered to the abdominal surface. Measurements were performed three times in three individuals each. The thin lines shows the standard deviation for each data point. c, d Change in turning angle depending on the voltage (42 Hz, Duty ratio 50%—single bipolar square-wave pulse, 1 ~ 8 V, 2 sec) when stimulating the left (c) and right (d) abdominal areas. In each condition, tests were performed three times in three individuals each. The upper and lower lines show the standard deviation. e Polar graph of position transition at 6 V stimulation from pre-stimulus to post-stimulus. f Effects on time taken to traverse an obstacle without stimulation and when stimulated to move straight. Scale bar, 4 cm. All photographs are brightness adjusted.