relevant:
Wen, Quan, Michelle D. Po, Elizabeth Hulme, Sway Chen, Xinyu Liu, Sen Wai Kwok, Marc Gershow et al. "Proprioceptive coupling within motor neurons drives C. elegans forward locomotion." Neuron 76, no. 4 (2012): 750-761.
http://www.sciencedirect.com/science/article/pii/S0896627312008057
A new computational method for a model of C. elegans biomechanics: Insights into elasticity and locomotion performance
Netta Cohen, Thomas Ranner
https://arxiv.org/abs/1702.04988