Angular momentum and arboreal stability in common marmosets (Callithrixjacchus)

Quantitative assessment of grasping strength in platyrrhine monkeys

OBJECTIVES

Despite the longstanding importance of grasping adaptations in theories of primate evolution, quantitative data on primate grasping strength remain rare. We present the results of two studies testing the prediction that callitrichines-given their comparative retreat from a small-branch environment and specialization for movement and foraging on tree trunks and large boughs-should be characterized by weaker grasping forces and underdeveloped digital flexor muscles relative to other platyrrhines.

METHODS

First, we directly measured manual grasping strength in marmosets (Callithrix jacchus) and squirrel monkeys (Saimiri boliviensis), using a custom-constructed force transducer. Second, we reanalyzed existing datasets on the fiber architecture of forearm and leg muscles in 12 platyrrhine species, quantifying digital flexor muscle physiological cross-sectional area (i.e., PCSA, a morphometric proxy of muscle strength) relative to the summed PCSA across all forearm or leg muscles.

RESULTS

Callithrix was characterized by lower mean and maximum grasping forces than Saimiri, and callitrichines as a clade were found to have relatively underdeveloped manual digital flexor muscle PCSA. However, relative pedal digital flexor PCSA did not significantly differ between callitrichines and other platyrrhines.

CONCLUSIONS

We found partial support for the hypothesis that variation in predominant substrate usage explains variation in empirical measurements of and morphological correlates of grasping strength in platyrrhines. Future research should extend the work presented here by (1) collecting morphological and empirical metrics of grasping strength in additional primate taxa and (2) extending performance testing to include empirical measures of primate pedal grasping forces as well.

A comparative study of muscle activity and synergies during walking in baboons and humans

Bipedal locomotion was a major functional change during hominin evolution, yet, our understanding of this gradual and complex process remains strongly debated. Based on fossil discoveries, it is possible to address functional hypotheses related to bipedal anatomy, however, motor control remains intangible with this approach. Using comparative models which occasionally walk bipedally has proved to be relevant to shed light on the evolutionary transition toward habitual bipedalism. Here, we explored the organization of the neuromuscular control using surface electromyography (sEMG) for six extrinsic muscles in two baboon individuals when they walk quadrupedally and bipedally on the ground. We compared their muscular coordination to five human subjects walking bipedally. We extracted muscle synergies from the sEMG envelopes using the non-negative matrix factorization algorithm which allows decomposing the sEMG data in the linear combination of two non-negative matrixes (muscle weight vectors and activation coefficients). We calculated different parameters to estimate the complexity of the sEMG signals, the duration of the activation of the synergies, and the generalizability of the muscle synergy model across species and walking conditions. We found that the motor control strategy is less complex in baboons when they walk bipedally, with an increased muscular activity and muscle coactivation. When comparing the baboon bipedal and quadrupedal pattern of walking to human bipedalism, we observed that the baboon bipedal pattern of walking is closer to human bipedalism for both baboons, although substantial differences remain. Overall, our findings show that the muscle activity of a non-adapted biped effectively fulfills the basic mechanical requirements (propulsion and balance) for walking bipedally, but substantial refinements are possible to optimize the efficiency of bipedal locomotion. In the evolutionary context of an expanding reliance on bipedal behaviors, even minor morphological alterations, reducing muscle coactivation, could have faced strong selection pressure, ultimately driving bipedal evolution in hominins.

Jumping performance in tree squirrels: Insights into primate evolution

Morphological traits suggesting powerful jumping abilities are characteristic of early crown primate fossils. Because tree squirrels lack certain 'primatelike' grasping features but frequently travel on the narrow terminal branches of trees, they make a viable extant model for an early stage of primate evolution. Here, we explore biomechanical determinants of jumping performance in the arboreal Eastern gray squirrel (Sciurus carolinensis, n = 3) as a greater understanding of the biomechanical strategies that squirrels use to modulate jumping performance could inform theories of selection for increased jumping ability during early primate evolution. We assessed vertical jumping performance by using instrumented force platforms upon which were mounted launching supports of various sizes, allowing us to test the influence of substrate diameter on jumping kinetics and performance. We used standard ergometric methods to quantify jumping parameters (e.g., takeoff velocity, total displacement, peak mechanical power) from force platform data during push-off. We found that tree squirrels display divergent mechanical strategies according to the type of substrate, prioritizing force production on flat ground versus center of mass displacement on narrower poles. As jumping represents a significant part of the locomotor behavior of most primates, we suggest that jumping from small arboreal substrates may have acted as a potential driver of the selection for elongated hindlimb segments in primates, allowing the center of mass to be accelerated over a longer distance-and thereby reducing the need for high substrate reaction forces.

Robust locomotor performance of squirrel monkeys (Saimiri boliviensis) in response to simulated changes in support diameter and compliance

Arboreal environments require overcoming navigational challenges not typically encountered in other terrestrial habitats. Supports are unevenly distributed and vary in diameter, orientation, and compliance. To better understand the strategies that arboreal animals use to maintain stability in this environment, laboratory researchers must endeavor to mimic those conditions. Here, we evaluate how squirrel monkeys (Saimiri boliviensis) adjust their locomotor mechanics in response to variation in support diameter and compliance. We used high-speed cameras to film two juvenile female monkeys as they walked across poles of varying diameters (5, 2.5, and 1.25 cm). Poles were mounted on either a stiff wooden base ("stable" condition) or foam blocks ("compliant" condition). Six force transducers embedded within the pole trackway recorded substrate reaction forces during locomotion. We predicted that squirrel monkeys would walk more slowly on narrow and compliant supports and adopt more "compliant" gait mechanics, increasing stride lengths, duty factors, and an average number of limbs gripping the support, while the decreasing center of mass height, stride frequencies, and peak forces. We observed few significant adjustments to squirrel monkey locomotor kinematics in response to changes in either support diameter or compliance, and the changes we did observe were often tempered by interactions with locomotor speed. These results differ from a similar study of common marmosets (i.e., Callithrix jacchus, with relatively poor grasping abilities), where variation in diameter and compliance substantially impacted gait kinematics. Squirrel monkeys' strong grasping apparatus, long and mobile tails, and other adaptations for arboreal travel likely facilitate robust locomotor performance despite substrate precarity.

The quadrupedal walking gait of the olive baboon, Papio anubis: an exploratory study integrating kinematics and EMG

Primates exhibit unusual quadrupedal features (e.g. diagonal gaits, compliant walk) compared with other quadrupedal mammals. Their origin and diversification in arboreal habitats have certainly shaped the mechanics of their walking pattern to meet the functional requirements necessary for balance control in unstable and discontinuous environments. In turn, the requirements for mechanical stability probably conflict with mechanical energy exchange. In order to investigate these aspects, we conducted an integrative study on quadrupedal walking in the olive baboon (Papio anubis) at the Primatology station of the CNRS in France. Based on kinematics, we describe the centre of mass mechanics of the normal quadrupedal gait performed on the ground, as well as in different gait and substrate contexts. In addition, we studied the muscular activity of six hindlimb muscles using non-invasive surface probes. Our results show that baboons can rely on an inverted pendulum-like exchange of energy (57% on average, with a maximal observed value of 84%) when walking slowly (<0.9 m s-1) with a tight limb phase (∼55%) on the ground using diagonal sequence gaits. In this context, the muscular activity is similar to that of other quadrupedal mammals, thus reflecting the primary functions of the muscles for limb movement and support. In contrast, walking on a suspended branch generates kinematic and muscular adjustments to ensure better control and to maintain stability. Finally, walking using the lateral sequence gait increases muscular effort and reduces the potential for high recovery rates. The present exploratory study thus supports the assumption that primates are able to make use of an inverted pendulum mechanism on the ground using a diagonal walking gait, yet a different footfall pattern and substrate appear to influence muscular effort and efficiency.

The Stabilizing Function of the Tail During Arboreal Quadrupedalism

Locomotion on the narrow and compliant supports of the arboreal environment is inherently precarious. Previous studies have identified a host of morphological and behavioral specializations in arboreal animals broadly thought to promote stability when on precarious substrates. Less well-studied is the role of the tail in maintaining balance. However, prior anatomical studies have found that arboreal taxa frequently have longer tails for their body size than their terrestrial counterparts, and prior laboratory studies of tail kinematics and the effects of tail reduction in focal taxa have broadly supported the hypothesis that the tail is functionally important for maintaining balance on narrow and mobile substrates. In this set of studies, we extend this work in two ways. First, we used a laboratory dataset on three-dimensional segmental kinematics and tail inertial properties in squirrel monkeys (Saimiri boliviensis) to investigate how tail angular momentum is modulated during steady-state locomotion on narrow supports. In the second study, we used a quantitative dataset on quadrupedal locomotion in wild platyrrhine monkeys to investigate how free-ranging arboreal animals adjust tail movements in response to substrate variation, focusing on kinematic measures validated in prior laboratory studies of tail mechanics (including the laboratory data presented). Our laboratory results show that S. boliviensis significantly increase average tail angular momentum magnitudes and amplitudes on narrow supports, and primarily regulate that momentum by adjusting the linear and angular velocity of the tail (rather than via changes in tail posture per se). We build on these findings in our second study by showing that wild platyrrhines responded to the precarity of narrow and mobile substrates by extending the tail and exaggerating tail displacements, providing ecological validity to the laboratory studies of tail mechanics presented here and elsewhere. In conclusion, our data support the hypothesis that the long and mobile tails of arboreal animals serve a biological role of enhancing stability when moving quadrupedally over narrow and mobile substrates. Tail angular momentum could be used to cancel out the angular momentum generated by other parts of the body during steady-state locomotion, thereby reducing whole-body angular momentum and promoting stability, and could also be used to mitigate the effects of destabilizing torques about the support should the animals encounter large, unexpected perturbations. Overall, these studies suggest that long and mobile tails should be considered among the fundamental suite of adaptations promoting safe and efficient arboreal locomotion.

Tail Length Evolution in Deer Mice: Linking Morphology, Behavior, and Function

Determining how variation in morphology affects animal performance (and ultimately fitness) is key to understanding the complete process of evolutionary adaptation. Long tails have evolved many times in arboreal and semi-arboreal rodents; in deer mice, long tails have evolved repeatedly in populations occupying forested habitat even within a single species (Peromyscus maniculatus). Here, we use a combination of functional modeling, laboratory studies, and museum records to test hypotheses about the function of tail-length variation in deer mice. First, we use computational models, informed by museum records documenting natural variation in tail length, to test whether differences in tail morphology between forest and prairie subspecies can influence performance in behavioral contexts relevant for tail use. We find that the deer- mouse tail plays little role in statically adjusting center of mass or in correcting body pitch and yaw, but rather it can affect body roll during arboreal locomotion. In this context, we find that even intraspecific tail-length variation could result in substantial differences in how much body rotation results from equivalent tail motions (i.e., tail effectiveness), but the relationship between commonly-used metrics of tail-length variation and effectiveness is non-linear. We further test whether caudal vertebra length, number, and shape are associated with differences in how much the tail can bend to curve around narrow substrates (i.e., tail curvature) and find that, as predicted, the shape of the caudal vertebrae is associated with intervertebral bending angle across taxa. However, although forest and prairie mice typically differ in both the length and number of caudal vertebrae, we do not find evidence that this pattern is the result of a functional trade-off related to tail curvature. Together, these results highlight how even simple models can both generate and exclude hypotheses about the functional consequences of trait variation for organismal-level performance.

Mechanics of Arboreal Locomotion in Swinhoe’s Striped Squirrels: A Potential Model for Early Euarchontoglires

Differences between arboreal and terrestrial supports likely pose less contrasting functional demands on the locomotor system at a small body size. For arboreal mammals of small body size, asymmetrical gaits have been demonstrated to be advantageous to increase dynamic stability. Many of the extant arboreal squirrel-related rodents display a small body size, claws on all digits, and limited prehensility, a combination that was proposed to have characterized the earliest Euarchontoglires. Thus, motion analysis of such a modern analog could shed light onto the early locomotor evolution of eurarchontoglirans. In this study, we investigated how Swinhoe’s striped squirrels (Tamiops swinhoei; Scuiromorpha) adjust their locomotion when faced with different orientations on broad supports and simulated small branches. We simultaneously recorded high-Hz videos (501 trials) and support reaction forces (451 trials) of squirrels running on two types of instrumented trackways installed at either a 45° incline (we recorded locomotion on inclines and declines) or with a horizontal orientation. The striped squirrels almost exclusively used asymmetrical gaits with a preference for full bounds. Locomotion on simulated branches did not differ substantially from locomotion on the flat trackway. We interpreted several of the quantified adjustments on declines and inclines (in comparison to horizontal supports) as mechanisms to increase stability (e.g., by minimizing toppling moments) and as adjustments to the differential loading of fore- and hind limbs on inclined supports. Our data, in addition to published comparative data and similarities to the locomotion of other small arboreal rodents, tree shrews, and primates as well as a likely small body size at the crown-group node of Euarchontoglires, render a preference for asymmetrical gaits in early members of the clade plausible. This contributes to our understanding of the ancestral lifestyle of this mammalian ‘superclade’.

Increased performance in juvenile baboons is consistent with ontogenetic changes in morphology

OBJECTIVES

In many primates, the greater proportion of climbing and suspensory behaviors in the juvenile repertoire likely necessitates good grasping capacities. Here, we tested whether very young individuals show near-maximal levels of grasping strength, and whether such an early onset of grasping performance could be explained by ontogenetic variability in the morphology of the limbs in baboons.

MATERIAL AND METHODS

We quantified a performance trait, hand pull strength, at the juvenile and adult stages in a cross-sectional sample of 15 olive baboons (Papio anubis). We also quantified bone dimensions (i.e., lengths, widths, and heights) of the fore- (n = 25) and hind limb (n = 21) elements based on osteological collections covering the whole development of olive baboons.

RESULTS

One-year old individuals demonstrated very high pull strengths (i.e., 200% of the adult performance, relative to body mass), that are consistent with relatively wider phalanges and digit joints in juveniles. The mature proportions and shape of the forelimb elements appeared only at full adulthood (i.e., ≥4.5 years), whereas the mature hind limb proportions and shape were observed much earlier during development.

DISCUSSION

These changes in limb performance and morphology across ontogeny may be explained with regard to behavioral transitions that olive baboons experience during their development. Our findings highlight the effect of infant clinging to mother, an often-neglected feature when discussing the origins of grasping in primates. The differences in growth patterns, we found between the forelimb and the hind limb further illustrate their different functional roles, having likely evolved under different ecological pressures (manipulation and locomotion, respectively).

Asymmetrical gait kinematics of free-ranging callitrichines in response to changes in substrate diameter and orientation

Arboreal environments present considerable biomechanical challenges for animals moving and foraging among substrates varying in diameter, orientation, and compliance. Most studies of quadrupedal gait kinematics in primates and other arboreal mammals have focused on symmetrical walking gaits and the significance of diagonal sequence gaits. Considerably less research has examined asymmetrical gaits, despite their prevalence in small-bodied arboreal taxa. Here we examine whether and how free-ranging callitrichine primates adjust asymmetrical gait kinematics to changes in substrate diameter and orientation, as well as how variation in gait kinematics affects substrate displacement. We used high-speed video to film free-ranging Saguinus tripartitus and Cebuella pygmaea inhabiting the Tiputini Biodiversity Station, Ecuador. We found that Saguinus used bounding and half-bounding gaits on larger substrates versus gallops and symmetrical gaits on smaller substrates, and also shifted several kinematic parameters consistent with attenuating forces transferred from the animal to the substrate. Similarly, Cebuella shifted from high impact bounding gaits on larger substrates to using more half-bounding gaits on smaller substrates; however, kinematic adjustments to substrate diameter were not as profound as in Saguinus. Both species adjusted gait kinematics to changes in substrate orientation; however, gait kinematics did not significantly affect empirical measures of substrate displacement in either species. Due to their small body size, claw-like nails, and reduced grasping capabilities, callitrichines arguably represent extant biomechanical analogues for an early stage in primate evolution. As such, greater attention should be placed on understanding asymmetrical gait dynamics for insight into hypotheses concerning early primate locomotor evolution.

Quantifying koala locomotion strategies: implications for the evolution of arborealism in marsupials

The morphology and locomotor performance of a species can determine their inherent fitness within a habitat type. Koalas have an unusual morphology for marsupials, with several key adaptations suggested to increase stability in arboreal environments. We quantified the kinematics of their movement over ground and along narrow arboreal trackways to determine the extent to which their locomotion resembled that of primates, occupying similar niches, or basal marsupials from which they evolved. On the ground, the locomotion of koalas resembled a combination of marsupial behaviours and primate-like mechanics. For example, their fastest strides were bounding type gaits with a top speed of 2.78 m s^-1 (mean 1.20 m s^-1), resembling marsupials, while the relatively longer stride length was reflective of primate locomotion. Speed was increased using equal modification of stride length and frequency. On narrow substrates, koalas took longer but slower strides (mean 0.42 m s^-1), adopting diagonally coupled gaits including both lateral and diagonal sequence gaits, the latter being a strategy distinctive among arboreal primates. The use of diagonally coupled gaits in the arboreal environment is likely only possible because of the unique gripping hand morphology of both the fore and hind feet of koalas. These results suggest that during ground locomotion, they use marsupial-like strategies but alternate to primate-like strategies when moving amongst branches, maximising stability in these environments. The locomotion strategies of koalas provide key insights into an independent evolutionary branch for an arboreal specialist, highlighting how locomotor strategies can convergently evolve between distant lineages.

Accelerated pseudogenization of trace amine-associated receptor genes in primates

Trace amines (TAs) in the mammalian brain have been investigated for four decades. Trace amine-associated receptors (TAARs) were discovered during the search for receptors activated by TAs. TAARs are considered a second class of vertebrate olfactory receptors and successfully proliferated in conjunction with adaptation to living on the ground to detect carnivore odors. Thus, therian mammals have a high number of TAAR genes due to rapid species-specific gene duplications. In primate lineages, however, their genomes have significantly smaller numbers of TAAR genes than do other mammals. To elucidate the evolutionary force driving these patterns, exhaustive data mining of TAAR genes was performed for 13 primate genomes (covering all four infraorders) and two nonprimate euarchontan genomes. This study identified a large number of pseudogenes in many of these primate genomes and thus investigated the pseudogenization event process for the TAAR repertoires. The degeneration of TAARs is likely associated with arboreal inhabitants reducing their exposure to carnivores, and this was accelerated by the change in the nose shape of haplorhines after their divergence from strepsirrhines. Arboreal life may have decreased the reliance on the chemosensing of predators, suggestive of leading to the depauperation of TAAR subfamilies. The evolutionary deterioration of TAARs in primates has been reestablished in recently derived primates due to high selection pressure and probably functional diversity.

Moving in complex environments: a biomechanical analysis of locomotion on inclined and narrow substrates

Characterisation of an organism's performance in different habitats provides insight into the conditions that allow it to survive and reproduce. In recent years, Northern quolls (Dasyurus hallucatus)—a medium-sized semi-arboreal marsupial native to northern Australia—have undergone significant population declines within open forest, woodland and riparian habitats, but less so in rocky areas. To help understand this decline, we quantified the biomechanical performance of wild Northern quolls as they ran up inclined narrow (13 mm pole) and inclined wide (90 mm platform) substrates. We predicted that quolls may possess biomechanical adaptations to increase stability on narrow surfaces, which are more common in rocky habitats. Our results display that quolls have some biomechanical characteristics consistent with a stability advantage on narrow surfaces. This includes the coupled use of limb pairs, as indicated via a decrease in footfall time, and an ability to produce corrective torques to counteract the toppling moments commonly encountered during gait on narrow surfaces. However, speed was constrained on narrow surfaces, and quolls did not adopt diagonal sequence gaits unlike true arboreal specialists such as primates. In comparison with key predators, such as cats and dogs, Northern quolls appear inferior in terrestrial environments but have a stability advantage at higher speeds on narrow supports. This may partially explain the heterogenous declines in Northern quoll populations among various habitats on mainland Australia.

Compliant legs enable lizards to maintain high running speeds on complex terrains

Substrate variations are likely to compel animal performance in natural environments, as running over complex terrains challenges the dynamic stability of the body differently in each step. Yet, being able to negotiate complex terrains at top speed is a strong advantage for animals that have to deal with predators and evasive prey. Only little is known on how animals negotiate such terrain variability at high speed. We investigated this in fast running Acanthodactylus boskianus lizards, by measuring their 3D kinematics using four synchronized high-speed video cameras (325Hz) on an adaptable racetrack. This racetrack was covered with four different substrates, representing increasing levels of terrain complexity. We found that the lizards deal with this complexity gradient by gradually adopting more erect parasagittal leg postures. More erected legs enable, in turn, more compliant legs use which are highly adjustable on complex terrains. Additionally, the lizards stabilise their head, which facilitates vestibular and visual perception. Together, compliant legs and head stabilisation enable the lizards to minimise movements of the body centre of mass, even when running on highly irregular terrains. This suggests that the head and the centre of mass are the priority targets for running on uneven terrains. As a result, running performance (mean forward speed) decreases only slightly, and only on the most challenging substrate under investigation.

Motion analysis of non-model organisms using a hierarchical model: Influence of setup enclosure dimensions on gait parameters of Swinhoe's striped squirrels as a test case

In in-vivo motion analyses, data from a limited number of subjects and trials is used as proxy for locomotion properties of entire populations, yet the inherent hierarchy of the individual and population level is usually not accounted for. Despite the increasing availability of hierarchical model frameworks for statistical analyses, they have not been applied extensively to comparative motion analysis. As a case study for the use of hierarchical models, we analyzed locomotor parameters of four Swinhoe's striped squirrels. The small-bodied arboreal mammals exhibit brief bouts of rapid asymmetric gaits. Spatio-temporal parameters on runways with experimentally varied dimensions of the setup enclosure were compared to test for their potentially confounding effects. We applied principal component analysis to evaluate changes to the overall locomotor pattern. A common, non-hierarchical, pooled statistical analysis of the data revealed significant differences in some of the parameters depending on enclosure dimensions. In contrast, we used a hierarchical Bayesian generalized linear model (GLM) that considers subject specific differences and population effects to compare the effect of enclosure dimensions on the measured parameters and the principal components. None of the population effects were confirmed by the hierarchical GLM. The confounding effect of a single subject that deviates in its locomotor behavior is potentially bigger than the influence of the experimental variation in enclosure dimensions. Our findings justify the common practice of researchers to intuitively select an enclosure with dimensions assumed as "non-constraining". Hierarchical models can easily be designed to cope with limited sample size and bias introduced by deviating behavior of individuals. When limited data is available-a typical restriction of in-vivo motion analyses of non-model organisms-density distributions of the Bayesian GLM used here remain reliable and the hierarchical structure of the model optimally exploits all available information. We provide code to be adjusted to other research questions.

Three-dimensional kinematic and kinetic analysis of quadrupedal walking in the common marmoset (Callithrix jacchus)

The common marmoset has recently gained a great deal of attention as an experimental primate model for biological science and medical research. To use the common marmoset for development of novel treatments and rehabilitation for locomotor disorders, it is crucial to understand fundamental baseline characteristics of locomotion in this species. Therefore, in the present study we performed kinematic and kinetic analyses of quadrupedal locomotion in this animal. A total of 14 common marmosets walking quadrupedally along a walkway were analyzed using synchronized high-speed cameras, with two force platforms set in the walkway. Our results demonstrated that the marmoset uses a lateral sequence walking pattern, in contrast to the macaque and other primates, which usually adopt a diagonal sequence pattern. Furthermore, peak vertical ground reaction force on the forelimb was larger than that on the hindlimb. The rate of energy recovery for quadrupedal walking in the common marmoset was much smaller than that in the macaque, indicating that the marmoset generally utilizes bouncing mechanics in locomotion, even though the duty factor is >0.5. This description of locomotor characteristics of intact marmosets may serve as a basis for comparative analyses of changes in gait due to rehabilitation and regenerative treatments.

Effects of support diameter and compliance on common marmoset (Callithrix jacchus) gait kinematics

Locomotion is precarious in an arboreal habitat, where supports can vary in both diameter and level of compliance. Several previous studies have evaluated the influence of substrate diameter on the locomotor performance of arboreal quadrupeds. The influence of substrate compliance, however, has been mostly unexamined. Here, we used a multifactorial experimental design to investigate how perturbations in both diameter and compliance affect the gait kinematics of marmosets (Callithrix jacchus; N=2) moving over simulated arboreal substrates. We used 3D-calibrated video to quantify marmoset locomotion over a horizontal trackway consisting of variably sized poles (5, 2.5 and 1.25 cm in diameter), analyzing a total of 120 strides. The central portion of the trackway was either immobile or mounted on compliant foam blocks, depending on condition. We found that narrowing diameter and increasing compliance were both associated with relatively longer substrate contact durations, though adjustments to diameter were often inconsistent relative to compliance-related adjustments. Marmosets also responded to narrowing diameter by reducing speed, flattening center of mass (CoM) movements and dampening support displacement on the compliant substrate. For the subset of strides on the compliant support, we found that speed, contact duration and CoM amplitude explained &gt;60% of the variation in substrate displacement over a stride, suggesting a direct performance advantage to these kinematic adjustments. Overall, our results show that compliant substrates can exert a significant influence on gait kinematics. Substrate compliance, and not just support diameter, should be considered a critical environmental variable when evaluating locomotor performance in arboreal quadrupeds.

Tail function during arboreal quadrupedalism in squirrel monkeys (Saimiri boliviensis) and tamarins (Saguinus oedipus)

The need to maintain stability on narrow branches is often presented as a major selective force shaping primate morphology, with adaptations to facilitate grasping receiving particular attention. The functional importance of a long and mobile tail for maintaining arboreal stability has been comparatively understudied. Tails can facilitate arboreal balance by acting as either static counterbalances or dynamic inertial appendages able to modulate whole-body angular momentum. We investigate associations between tail use and inferred grasping ability in two closely related cebid platyrrhines-cotton-top tamarins (Saguinus oedipus) and black-capped squirrel monkeys (Saimiri boliviensis). Using high-speed videography of captive monkeys moving on 3.2 cm diameter poles, we specifically test the hypothesis that squirrel monkeys (characterized by grasping extremities with long digits) will be less dependent on the tail for balance than tamarins (characterized by claw-like nails, short digits, and a reduced hallux). Tamarins have relatively longer tails than squirrel monkeys, move their tails through greater angular amplitudes, at higher angular velocities, and with greater angular accelerations, suggesting dynamic use of tail to regulate whole-body angular momentum. By contrast, squirrel monkeys generally hold their tails in a comparatively stationary posture and at more depressed angles, suggesting a static counterbalancing mechanism. This study, the first empirical test of functional tradeoffs between grasping ability and tail use in arboreal primates, suggests a critical role for the tail in maintaining stability during arboreal quadrupedalism. Our findings have the potential to inform our functional understanding of tail loss during primate evolution.