Fast and furious: effects of body size on strike performance in an arboreal viper Trimeresurus (Cryptelytrops) albolabris

Functional diversity of snake locomotor behaviors: A review of the biological literature for bioinspiration

Organismal solutions to natural challenges can spark creative engineering applications. However, most engineers are not experts in organismal biology, creating a potential barrier to maximally effective bioinspired design. In this review, we aim to reduce that barrier with respect to a group of organisms that hold particular promise for a variety of applications: snakes. Representing >10% of tetrapod vertebrates, snakes inhabit nearly every imaginable terrestrial environment, moving with ease under many conditions that would thwart other animals. To do so, they employ over a dozen different types of locomotion (perhaps well over). Lacking limbs, they have evolved axial musculoskeletal features that enable their vast functional diversity, which can vary across species. Different species also have various skin features that provide numerous functional benefits, including frictional anisotropy or isotropy (as their locomotor habits demand), waterproofing, dirt shedding, antimicrobial properties, structural colors, and wear resistance. Snakes clearly have much to offer to the fields of robotics and materials science. We aim for this review to increase knowledge of snake functional diversity by facilitating access to the relevant literature.

Evolutionary convergence of muscle architecture in relation to locomotor ecology in snakes

The epaxial muscles in snakes are responsible for locomotion and as such can be expected to show adaptations in species living in different environments. Here, we tested whether the structural units that comprise the superficial epaxial muscles (semispinalis-spinalis, SSP; longissimus dorsi, LD; iliocostalis, IC) were different in animals occupying similar habitats. To do so, we analyzed and compared the muscle architecture (mass, fiber length, and physiological cross-sectional area) of the superficial epaxial muscle segments in snakes that differ in their habitat use (e.g., arboreal, terrestrial, and aquatic). Our results showed that arboreal species have on average longer muscles and tendons spanning more segments likely important during gap bridging. Moreover, aquatic snakes show relatively heavier semispinalis-spinalis muscles with a greater cross-sectional area. The longissimus dorsi muscles also showed a greater cross-sectional area compared with terrestrial and especially arboreal snakes. Whereas the more strongly developed muscles in aquatic snakes are likely associated with the dense and viscous environment through which they move, the lighter muscles in arboreal snakes may provide an advantage when climbing. Future studies comparing other ecologies (e.g., burrowing snakes) and additional muscle units (e.g., multifidus; hypaxial muscles) are needed to better understand the structural features driving variation in locomotor performance and efficiency in snakes.

Blood python (Python brongersmai) strike kinematics and forces are robust to variations in substrate geometry

Snake strikes are some of the most rapid accelerations in terrestrial vertebrates. Generating rapid body accelerations requires high ground reaction forces, but on flat surfaces snakes must rely on static friction to prevent slip. We hypothesize that snakes may be able to take advantage of structures in the environment to prevent their body from slipping, potentially allowing them to generate faster and more forceful strikes. To test this hypothesis, we captured high-speed video and forces from defensive strikes of juvenile blood pythons (Python brongersmai) on a platform that was either open on all sides or with two adjacent walls opposite the direction of the strike. Contrary to our predictions, snakes maintained high performance on open platforms by imparting rearward momentum to the posterior body and tail. This compensatory behavior increases robustness to changes in their strike conditions and could allow them to exploit variable environments.

Different traits at different rates: The effects of dynamic strain rate on structural traits in biology

Phenotypic diversity is influenced by physical laws that govern how an organism's morphology relates to functional performance. To study comparative organismal biology, we need to quantify this diversity using biological traits (definable aspects of the morphology, behavior, and/or life history of an organism). Traits are often assumed to be immutable properties that need only be measured a single time in each adult. However, organisms often experience changes in their biotic and abiotic environments that can alter trait function. In particular, structural traits represent the physical capabilities of an organism and may be heavily influenced by the rate at which they are exposed to physical demands ('loads'). For instance, materials tend to become more brittle when loaded at faster rates which could negatively affect structures trying to resist those loads (e.g., brittle materials are more likely to fracture). In the following perspective piece, we address the dynamic properties of structural traits and present case studies that demonstrate how dynamic strain rates affect the function of these traits in diverse groups of organisms. First, we review how strain rate affects deformation and fracture in biomaterials and demonstrate how these effects alter puncture mechanics in systems such as snake strikes. Second, we discuss how different rates of bone loading affect the locomotor biomechanics of vertebrates and their ecology. Through these examinations of diverse taxa and ecological functions, we aim to highlight how rate-dependent properties of structural traits can generate dynamic form-function relationships in response to changing environmental conditions. Findings from these studies serve as a foundation to develop more nuanced ecomechanical models that can predict how complex traits emerge and, thereby, advance progress on outlining the Rules of Life.

Linking Tooth Shape to Strike Mechanics in the Boa constrictor

Snakes, with the obvious exception of the fangs, are considered to lack the regional specialization of tooth shape and function which are exemplified by mammals. Recent work in fishes has suggested that the definition of homodont and heterodont are incomplete without a full understanding of the morphology, mechanics, and behavior of feeding. We investigated this idea further by examining changes in tooth shape along the jaw of Boa constrictor and integrating these data with the strike kinematics of boas feeding on rodent prey. We analyzed the shape of every tooth in the skull, from a combination of anesthetized individuals and CT scanned museum specimens. For strike kinematics, we filmed eight adult boas striking at previously killed rats. We determined the regions of the jaws that made first contact with the prey, and extrapolated the relative positions of those teeth at that moment. We further determined the roles of all the teeth throughout the prey capture process, from the initiation of the strike until constriction began. We found that the teeth in the anterior third of the mandible are the most upright, and that teeth become progressively more curved posteriorly. Teeth on the maxilla are more curved than on the mandible, and the anterior teeth are more linear or recurved than the posterior teeth. In a majority of strikes, boas primarily made contact with the anterior third of the mandible first. The momentum from the strike caused the upper jaws and skull to rotate over the rat. The more curved teeth of the upper jaw slid over the rat unimpeded until the snake began to close its jaws. In the remaining strikes, boas made contact with the posterior third of both jaws simultaneously, driving through the prey and quickly retracting, ensnaring the prey on the curved posterior teeth of both jaws. The curved teeth of the palatine and pterygoid bones assist in the process of swallowing.

Morphological evolution in relationship to sidewinding, arboreality and precipitation in snakes of the family Viperidae

Compared with other squamates, snakes have received relatively little ecomorphological investigation. We examined morphometric and meristic characters of vipers, in which both sidewinding locomotion and arboreality have evolved multiple times. We used phylogenetic comparative methods that account for intraspecific variation (measurement error models) to determine how morphology varied in relationship to body size, sidewinding, arboreality and mean annual precipitation (which we chose over other climate variables through model comparison). Some traits scaled isometrically; however, head dimensions were negatively allometric. Although we expected sidewinding specialists to have different body proportions and more vertebrae than non-sidewinding species, they did not differ significantly for any trait after correction for multiple comparisons. This result suggests that the mechanisms enabling sidewinding involve musculoskeletal morphology and/or motor control, that viper morphology is inherently conducive to sidewinding (‘pre-adapted’) or that behaviour has evolved faster than morphology. With body size as a covariate, arboreal vipers had long tails, narrow bodies and lateral compression, consistent with previous findings for other arboreal snakes, plus reduced posterior body tapering. Species from wetter environments tended to have longer tails, wider heads and reduced anterior tapering. This study adds to the growing evidence that, despite superficial simplicity, snakes have evolved various morphological specializations in relationship to behaviour and ecology.

The Effects of Temperature on the Kinematics of Rattlesnake Predatory Strikes in Both Captive and Field Environments

The outcomes of predator-prey interactions between endotherms and ectotherms can be heavily influenced by environmental temperature, owing to the difference in how body temperature affects locomotor performance. However, as elastic energy storage mechanisms can allow ectotherms to maintain high levels of performance at cooler body temperatures, detailed analyses of kinematics are necessary to fully understand how changes in temperature might alter endotherm-ectotherm predator-prey interactions. Viperid snakes are widely distributed ectothermic mesopredators that interact with endotherms both as predator and prey. Although there are numerous studies on the kinematics of viper strikes, surprisingly few have analyzed how this rapid movement is affected by temperature. Here we studied the effects of temperature on the predatory strike performance of rattlesnakes (Crotalus spp.), abundant new world vipers, using both field and captive experimental contexts. We found that the effects of temperature on predatory strike performance are limited, with warmer snakes achieving slightly higher maximum strike acceleration, but similar maximum velocity. Our results suggest that, unlike defensive strikes to predators, rattlesnakes may not attempt to maximize strike speed when attacking prey, and thus the outcomes of predatory strikes may not be heavily influenced by changes in temperature.

SnakeStrike: A Low-Cost Open-Source High-Speed Multi-Camera Motion Capture System

Current neuroethological experiments require sophisticated technologies to precisely quantify the behavior of animals. In many studies, solutions for video recording and subsequent tracking of animal behavior form a major bottleneck. Three-dimensional (3D) tracking systems have been available for a few years but are usually very expensive and rarely include very high-speed cameras; access to these systems for research is limited. Additionally, establishing custom-built software is often time consuming – especially for researchers without high-performance programming and computer vision expertise. Here, we present an open-source software framework that allows researchers to utilize low-cost high-speed cameras in their research for a fraction of the cost of commercial systems. This software handles the recording of synchronized high-speed video from multiple cameras, the offline 3D reconstruction of that video, and a viewer for the triangulated data, all functions previously also available as separate applications. It supports researchers with a performance-optimized suite of functions that encompass the entirety of data collection and decreases processing time for high-speed 3D position tracking on a variety of animals, including snakes. Motion capture in snakes can be particularly demanding since a strike can be as short as 50 ms, literally twice as fast as the blink of an eye. This is too fast for faithful recording by most commercial tracking systems and therefore represents a challenging test to our software for quantification of animal behavior. Therefore, we conducted a case study investigating snake strike speed to showcase the use and integration of the software in an existing experimental setup.

The effects of temperature on the defensive strikes of rattlesnakes

Movements of ectotherms are constrained by their body temperature owing to the effects of temperature on muscle physiology. As physical performance often affects the outcome of predator-prey interactions, environmental temperature can influence the ability of ectotherms to capture prey and/or defend themselves against predators. However, previous research on the kinematics of ectotherms suggests that some species may use elastic storage mechanisms when attacking or defending, thereby mitigating the effects of sub-optimal temperature. Rattlesnakes (Crotalus spp.) are a speciose group of ectothermic viperid snakes that rely on crypsis, rattling and striking to deter predators. We examined the influence of body temperature on the behavior and kinematics of two rattlesnake species (Crotalus oreganus helleri and Crotalus scutulatus) when defensively striking towards a threatening stimulus. We recorded defensive strikes at body temperatures ranging from 15-35°C. We found that strike speed and speed of mouth gaping during the strike were positively correlated with temperature. We also found a marginal effect of temperature on the probability of striking, latency to strike and strike outcome. Overall, warmer snakes are more likely to strike, strike faster, open their mouth faster and reach maximum gape earlier than colder snakes. However, the effects of temperature were less than would be expected for purely muscle-driven movements. Our results suggest that, although rattlesnakes are at a greater risk of predation at colder body temperatures, their decrease in strike performance may be mitigated to some extent by employing mechanisms in addition to skeletal muscle contraction (e.g. elastic energy storage) to power strikes.

Captivity Affects Head Morphology and Allometry in Headstarted Garter Snakes, Thamnophis sirtalis

In response to the growing number of amphibian and reptiles species in decline, many conservation managers have implemented captive breeding and headstarting programs in an effort to restore these populations. However, many of these programs suffer from low survival success, and it is often unclear as to why some individuals do not survive after reintroduction. Here I document changes to head morphology in the eastern garter snake, Thamnophis sirtalis, in response to time spent in captivity. Thamnophis raised on three diet treatments all differed in head size from wild individuals, and head size differed between the three treatments. Overall, head size was smaller in all three diet treatments than in wild snakes, potentially limiting the available prey for the captive garter snakes. Allometric patterns of growth in head size were also different for each diet treatment. Several potential implications of these changes in morphology are discussed, and what these changes may mean for other species that are part of headstarting and reintroduction programs.

Ontogeny of strike performance in ball pythons (Python regius): a three-year longitudinal study

The rapid strike of snakes has long been of interest in terms of mechanical performance. Recently, several nonvenomous taxa have been found to strike with the same incredible strike velocity and acceleration as the high-performing vipers. However, little is known regarding how these patterns change through ontogeny. Here I present ontogenetic strike data on ten ball pythons (Python regius) over a three year time period, from birth to sexual maturity. I found that performance declined rapidly over the first 18 months in nearly all kinematic measures. This puts the adult data out of the currently developing trend of high performance being maintained across the diversity of snakes. The underlying cause of the decline in performance is unclear, but there are several avenues of behavior, morphology, biomechanics, and ecology to be investigated.

How do morphological sharpness measures relate to puncture performance in viperid snake fangs?

It makes intuitive sense that you need a sharp tool to puncture through a tough material. The typical approach to evaluating sharpness in biological puncturing tools is to treat morphological measurements as a proxy for puncture ability. However, there are multiple approaches to measuring sharpness, and the relative influence of morphology on function remains unclear. Our goal is to determine what aspects of tip morphology have the greatest impact on puncture ability, using ( a) viper fangs and ( b) engineered punches to isolate the effects of different sharpness measures. Our results indicate that tip included angle is the strongest predictor of puncture performance in both viper fangs and engineered punches. For puncture tools with small included angles, sharpness index (based on the radius of curvature) also affects puncture ability. Finally, we found that punches serve as good predictors of fang performance at small angles and sharpness index values.

Quantitative axial myology in two constricting snakes: Lampropeltis holbrooki and Pantherophis obsoletus

A snake's body represents an extreme degree of elongation with immense muscle complexity. Snakes have approximately 25 different muscles on each side of the body at each vertebra. These muscles serially repeat, overlap, interconnect, and rarely insert parallel to the vertebral column. The angled muscles mean that simple measurements of anatomical cross-sectional area (ACSA, perpendicular to the long-axis of the body) serve only as proxies for the primary determinant of muscle force, physiological cross-sectional area (PCSA, area perpendicular to the muscle fibers). Here, I describe and quantify the musculature of two intraguild constrictors: kingsnakes (Lampropeltis holbrooki) and ratsnakes (Pantherophis obsoletus) whose predation performance varies considerably. Kingsnakes can produce significantly higher constriction pressures compared with ratsnakes of similar size. In both snakes, I provide qualitative descriptions, detail previously undescribed complexity, identify a new lateral muscle, and provide some of the first quantitative measures of individual muscle and whole-body PCSA. Furthermore, I compare measurements of ACSA with measurements of PCSA. There was no significant difference in PCSA of muscles between kingsnakes and ratsnakes. There is, however, a strong relationship between ACSA and PCSA measurements. I could not identify a significant difference in musculature between kingsnakes and ratsnakes that explains their different levels of constriction performance. Unmeasured components of muscle function, such as endurance and force production, might account for differences in performance between two species with similar muscle structure.

The king of snakes: performance and morphology of intraguild predators (Lampropeltis) and their prey (Pantherophis)

Across ecosystems and trophic levels, predators are usually larger than their prey, and when trophic morphology converges, predators typically avoid predation on intraguild competitors unless the prey is notably smaller in size. However, a currently unexplained exception occurs in kingsnakes in the genus Lampropeltis. Kingsnakes are able to capture, constrict and consume other snakes that are not only larger than themselves but that are also powerful constrictors (such as ratsnakes in the genus Pantherophis). Their mechanisms of success as intraguild predators on other constrictors remain unknown. To begin addressing these mechanisms, we studied the scaling of muscle cross-sectional area, pulling force and constriction pressure across the ontogeny of six species of snakes (Lampropeltis californiae, L. getula, L. holbrooki, Pantherophis alleghaniensis, P. guttatus and P. obsoletus). Muscle cross-sectional area is an indicator of potential force production, pulling force is an indicator of escape performance, and constriction pressure is a measure of prey-handling performance. Muscle cross-sectional area scaled similarly for all snakes, and there was no significant difference in maximum pulling force among species. However, kingsnakes exerted significantly higher pressures on their prey than ratsnakes. The similar escape performance among species indicates that kingsnakes win in predatory encounters because of their superior constriction performance, not because ratsnakes have inferior escape performance. The superior constriction performance by kingsnakes results from their consistent and distinctive coil posture and perhaps from additional aspects of muscle structure and function that need to be tested in future research.

Debunking the viper's strike: harmless snakes kill a common assumption

To survive, organisms must avoid predation and acquire nutrients and energy. Sensory systems must correctly differentiate between potential predators and prey, and elicit behaviours that adjust distances accordingly. For snakes, strikes can serve both purposes. Vipers are thought to have the fastest strikes among snakes. However, strike performance has been measured in very few species, especially non-vipers. We measured defensive strike performance in harmless Texas ratsnakes and two species of vipers, western cottonmouths and western diamond-backed rattlesnakes, using high-speed video recordings. We show that ratsnake strike performance matches or exceeds that of vipers. In contrast with the literature over the past century, vipers do not represent the pinnacle of strike performance in snakes. Both harmless and venomous snakes can strike with very high accelerations that have two key consequences: the accelerations exceed values that can cause loss of consciousness in other animals, such as the accelerations experienced by jet pilots during extreme manoeuvres, and they make the strikes faster than the sensory and motor responses of mammalian prey and predators. Both harmless and venomous snakes can strike faster than the blink of an eye and often reach a target before it can move.

Point of impact: the effect of size and speed on puncture mechanics

The use of high-speed puncture mechanics for prey capture has been documented across a wide range of organisms, including vertebrates, arthropods, molluscs and cnidarians. These examples span four phyla and seven orders of magnitude difference in size. The commonality of these puncture systems offers an opportunity to explore how organisms at different scales and with different materials, morphologies and kinematics perform the same basic function. However, there is currently no framework for combining kinematic performance with cutting mechanics in biological puncture systems. Our aim here is to establish this framework by examining the effects of size and velocity in a series of controlled ballistic puncture experiments. Arrows of identical shape but varying in mass and speed were shot into cubes of ballistic gelatine. Results from high-speed videography show that projectile velocity can alter how the target gel responds to cutting. Mixed models comparing kinematic variables and puncture patterns indicate that the kinetic energy of a projectile is a better predictor of penetration than either momentum or velocity. These results form a foundation for studying the effects of impact on biological puncture, opening the door for future work to explore the influence of morphology and material organization on high-speed cutting dynamics.

Off like a shot: scaling of ballistic tongue projection reveals extremely high performance in small chameleons

Stretching elastic tissues and using their recoil to power movement allows organisms to release energy more rapidly than by muscle contraction directly, thus amplifying power output. Chameleons employ such a mechanism to ballistically project their tongue up to two body lengths, achieving power outputs nearly three times greater than those possible via muscle contraction. Additionally, small organisms tend to be capable of greater performance than larger species performing similar movements. To test the hypothesis that small chameleon species outperform larger species during ballistic tongue projection, performance was examined during feeding among 20 chameleon species in nine genera. This revealed that small species project their tongues proportionately further than large species, achieving projection distances of 2.5 body lengths. Furthermore, feedings with peak accelerations of 2,590 m s(-2), or 264 g, and peak power output values of 14,040 W kg(-1) are reported. These values represent the highest accelerations and power outputs reported for any amniote movement, highlighting the previously underestimated performance capability of the family. These findings show that examining movements in smaller animals may expose movements harbouring cryptic power amplification mechanisms and illustrate how varying metabolic demands may help drive morphological evolution.

Sexual dimorphism of tropical green pit viper Trimeresurus (Cryptelytrops) macrops in Northeast Thailand

Total body size for arboreal vipers is normally biased toward small males and larger females. We evaluated sexual dimorphism in adult and sub-adultTrimeresurus macrops, a small, arboreal green pit viper commonly found in Southeast Asia, but severely understudied. We evaluated morphological characters of 139 adultT. macropsobtained by active and opportunistic searches at Sakaerat Biosphere Reserve in northeast Thailand, from May 2012 to October 2014. We compared 7 external characters including residual index (Ri) and scaled mass index (SMI) between male and femaleT. macrops. Body length measurements and mass differed between males and females. Females had greater snout-vent length, body mass and head length and width, while males had greater tail lengths. A postocular stripe was always present on males, but never on females. Male head size was negatively correlated with SMI, which may reveal intersexual competition inT. macrops. Sexually dimorphic characters inT. macropsmay have evolved through intraspecific resource partitioning.

Scaling of the ballistic tongue apparatus in chameleons

Body dimensions of organisms can have a profound impact on their functional and structural properties. We examined the morphological proportions of the feeding apparatus of 105 chameleon specimens representing 23 species in seven genera, spanning a 1,000-fold range in body mass to test whether the feeding apparatus conforms to the null hypotheses of geometric similarity that is based on the prevalence of geometric similarity in other ectothermic vertebrates. We used a phylogenetically corrected regression analysis based on a composite phylogenetic hypothesis to determine the interspecific scaling patterns of the feeding apparatus. We also determined the intraspecific (ontogenetic) scaling patterns for the feeding apparatus in three species. We found that both intraspecifically and interspecifically, the musculoskeletal components of the feeding apparatus scale isometrically among themselves, independent of body length. The feeding apparatus is thus of conserved proportions regardless of overall body length. In contrast, we found that the tongue apparatus as a whole and its musculoskeletal components scale with negative allometry with respect to snout-vent length--smaller individuals have a proportionately larger feeding apparatus than larger individuals, both within and among species. Finally, the tongue apparatus as a whole scales with negative allometry with respect to body mass through ontogeny, but with isometry interspecifically. We suggest that the observed allometry may be maintained by natural selection because an enlarged feeding apparatus at small body size may maximize projection distance and the size of prey that smaller animals with higher mass-specific metabolic rates can capture.

Flexibility in locomotor-feeding integration during prey capture in varanid lizards: effects of prey size and velocity

Feeding movements are adjusted in response to food properties, and this flexibility is essential for omnivorous predators as food properties vary routinely. In most lizards, prey capture is no longer considered to solely rely on the movements of the feeding structures (jaws, hyolingual apparatus), but instead is understood to require the integration of the feeding system with the locomotor system (i.e., coordination of movements). Here, we investigate flexibility in the coordination pattern between jaw, neck and forelimb movements in omnivorous varanid lizards feeding on four prey types varying in length and mobility: grasshoppers, live newborn mice, adult mice and dead adult mice. We test for bivariate correlations between 3D locomotor and feeding kinematics, and compare the jaw-neck-forelimb coordination patterns across prey types. Our results reveal that locomotor-feeding integration is essential for the capture of evasive prey, and that different jaw-neck-forelimb coordination patterns are used to capture different prey types. Jaw-neck-forelimb coordination is indeed significantly altered by the length and speed of the prey, indicating that a similar coordination pattern can be finely tuned in response to prey stimuli. These results suggest feed-forward as well as feedback modulation of the control of locomotor-feeding integration. As varanids are considered to be specialized in the capture of evasive prey (although they retain their ability to feed on a wide variety of prey items), flexibility in locomotor-feeding integration in response to prey mobility is proposed to be a key component in their dietary specialization.