Interlimb coordination, gait, and neural control of quadrupedalism in chimpanzees

The "dog paddle": Stereotypic swimming gait pattern in different dog breeds

The term "dog paddle" has been applied to the swimming behavior of various terrestrial and aquatic species. Dog paddling refers to a form of drag-based, paddle propulsion in which the limbs are oriented underneath the body and moved through an arc. Despite the ubiquity of the term, there has been no analysis of the swimming kinematics of dogs. Underwater video was recorded of surface swimming dogs (velocity: 0.4-1.1 m/s) for eight individuals from six breeds, ranging in size from Yorkshire Terrier (3.6 kg) to Newfoundland dog (63.5 kg). The quadrupedal paddling stroke was analyzed to determine kinematics and coordination of the limbs. The paddling stroke represented a modified terrestrial gait, which was outside typical gaits for terrestrial locomotion by dogs. Stroke frequency decreased with increasing body size. The stroke cycle consisted of power and recovery phases. During the power phase, digits of the paw were abducted and the forelimb was swept posteriorly until perpendicular to the body. In the recovery phase, digits were adducted while the brachium was retracted anteriorly and the manus supinated. The power phase was about 34% of stroke cycle and shorter than the recovery phase for both fore and hindlimbs. Maximum velocity during the power phase was greater than the recovery phase. The modified terrestrial gait used for swimming by dogs appears to be stereotypic among breeds, whereas terrestrial locomotion in dogs shows substantial variation in gait. Without constraints imposed by gravity and substrate contact, swimming dogs can utilize a gait profile different from terrestrial gaits. SUMMARY STATEMENT: Despite the ubiquity of the term "dog paddle" to describe the swimming motions of animals, this is the first time that the swimming motions of dogs have been analyzed.

Great ape walking kinematics: Implications for hominoid evolution

OBJECTIVES

Great apes provide a point of reference for understanding the evolution of locomotion in hominoids and early hominins. We assessed (1) the extent to which great apes use diagonal sequence, diagonal couplet gaits, like other primates, (2) the extent to which gait and posture vary across great apes, and (3) the role of body mass and limb proportions on ape quadrupedal kinematics.

METHODS

High-speed digital video of zoo-housed bonobos (Pan paniscus, N = 8), chimpanzees (Pan troglodytes, N = 13), lowland gorillas (Gorilla gorilla, N = 13), and orangutans (Pongo spp. N = 6) walking over-ground at self-selected speeds were used to determine the timing of limb touch-down, take-off, and to measure joint and segment angles at touch-down, midstance, and take-off.

RESULTS

The great apes in our study showed broad kinematic and spatiotemporal similarity in quadrupedal walking. Size-adjusted walking speed was the strongest predictor of gait variables. Body mass had a negligible effect on variation in joint and segment angles, but stride frequency did trend higher among larger apes in analyses including size-adjusted speed. In contrast to most other primates, great apes did not favor diagonal sequence footfall patterns, but exhibited variable gait patterns that frequently shifted between diagonal and lateral sequences.

CONCLUSION

Similarities in the terrestrial walking kinematics of extant great apes likely reflect their similar post-cranial anatomy and proportions. Our results suggest that the walking kinematics of orthograde, suspensory Miocene ape species were likely similar to living great apes, and highlight the utility of videographic and behavioral data in interpreting primate skeletal morphology.

Idiosyncratic control of the center of mass in expert climbers

Here, we studied posture and movement coordination adopted by expert climbers. The investigation of such expertise might be of particular interest to gain understanding about the mechanisms underlying the biomechanical control of vertical quadrupedal locomotion. A novel custom setup was developed to analyze the motion of the center-of-mass (COM) and complementary information about the dynamic distribution of vertical reaction forces under the feet during climbing in nine elite climbers (EC) and nine control subjects. Two adaptive features were found in EC. First, unexpectedly they tended to maintain larger COM distances from the wall relative to controls, during both the static and dynamic phases of vertical motion (by ∼5 cm in both cases). Second, while the control subjects tended to restrain the lateral motion of the COM, all EC demonstrated systematic COM oscillations (∼1.3 times larger) associated with a significant alternating dynamic redistribution of the body weight between the limbs during the double support phase. The latter phenomenon likely reflects an adopted basic climbing strategy in experts. Furthermore, a convergence of the optimal solution towards a more diagonal climbing strategy in EC may shed light on the origin of the diagonal gait in primates and early hominids habituated to quadrupedal vertical locomotion.

Description of joint movements in human and non-human primate locomotion using Fourier analysis

To describe and help interpret joint movements in various forms of primate locomotion, we explored the use of Fourier analysis to represent changing joint angles as a series of sine and cosine curves added together to approximate the raw angular data. Results are presented for four joints (shoulder, elbow, hip and knee) with emphasis on the shoulder, and for five types of locomotion (catarhine primate quadrupedal walking, human hands-and-feet creeping and hands-and-knees creeping, and human walking and running). Fourier analysis facilitates functional interpretation of the angles of all four joints, by providing average joint angles and an indication of the number of peaks and troughs in the angular data. The description of limb movements also afforded us the opportunity to compare human and other catarhine joint angles, and we interpret the Fourier results in terms of locomotor posture and type. In addition, the shoulder data are useful for determination of some aspects of interlimb coordination. Non-human primates walking quadrupedally and humans creeping on hands and knees generally evince diagonal couplets interlimb coordination, in which the hand on one side strikes the substrate at about the same time as the contralateral foot or knee. Furthermore, human walking and running seem to follow a similar pattern, as indicated by Fourier analysis. From our data it is concluded that human bipedal gaits are qualitatively similar to diagonal couplets gaits in other primates, but quite different from the lateral couplets gaits used by many non-primate mammals. A number of other benefits of Fourier analysis in primate locomotion studies are also discussed. These include the ability to make statistical comparisons among various types of limb movements in a wide variety of species, a simple archival technique for limb movement data, and a greater understanding of the variability of locomotor movements.

Stability, limb coordination and substrate type: the ecorelevance of gait sequence pattern in primates

The coordination of limb movements during mammalian locomotion has been well documented in the literature. Most mammals use lateral sequence (LS) gaits, in which a forelimb follows an ipsilateral hind limb during the stride cycle. Primates, however, tend to utilize diagonal sequence (DS) gaits, whereby a contralateral forelimb follows a given hind limb during the stride cycle. A number of scenarios have been offered to explain why primates favor DS gaits, most of them relating to the use of the arboreal habitat and, in particular, the exploitation of a terminal branch niche. Yet to date, there is surprisingly little evidence to support the advantage of DS gaits for negotiating different aspects of the terminal branch environment. Nonetheless, it is apparent that primates possess unique morphologies and a higher than typically recognized degree of flexibility in gait sequence pattern, both of which likely offer advantages for moving upon discontinuous and unstable terminal branches. This paper reviews potential explanations for the use of DS gaits in primates and considers mechanisms by which gait sequence may be altered during different types of arboreal challenges.

Insights into the evolution of human bipedalism from experimental studies of humans and other primates

An understanding of the evolution of human bipedalism can provide valuable insights into the biomechanical and physiological characteristics of locomotion in modern humans. The walking gaits of humans, other bipeds and most quadrupedal mammals can best be described by using an inverted-pendulum model, in which there is minimal change in flexion of the limb joints during stance phase. As a result, it seems logical that the evolution of bipedalism in humans involved a simple transition from a relatively stiff-legged quadrupedalism in a terrestrial ancestor to relatively stiff-legged bipedalism in early humans. However, experimental studies of locomotion in humans and nonhuman primates have shown that the evolution of bipedalism involved a much more complex series of transitions, originating with a relatively compliant form of quadrupedalism. These studies show that relatively compliant walking gaits allow primates to achieve fast walking speeds using long strides, low stride frequencies, relatively low peak vertical forces, and relatively high impact shock attenuation ratios. A relatively compliant, ape-like bipedal walking style is consistent with the anatomy of early hominids and may have been an effective gait for a small biped with relatively small and less stabilized joints, which had not yet completely forsaken arboreal locomotion. Laboratory-based studies of primates also suggest that human bipedalism arose not from a terrestrial ancestor but rather from a climbing, arboreal forerunner. Experimental data, in conjunction with anatomical data on early human ancestors, show clearly that a relatively stiff modern human gait and associated physiological and anatomical adaptations are not primitive retentions from a primate ancestor, but are instead recently acquired characters of our genus.