Muscle contraction occurs via the sliding filament mechanism. The myosin heads attach to actin and pull the filaments together, shortening the sarcomere. Calcium ions trigger muscle contraction by binding to troponin and exposing myosin binding sites on actin. Myosin then hydrolyzes ATP to generate the force needed for cross-bridge cycling and filament sliding. Relaxation occurs when calcium is pumped back into the sarcoplasmic reticulum, removing it from the myofilaments. Motor units, each innervated by a motor neuron, allow graded muscle responses through recruitment of additional fibers.