Scaling of the ballistic tongue apparatus in chameleons

Skin wrinkles and folds enable asymmetric stretch in the elephant trunk

The elephant's trunk is multifunctional: It must be flexible to wrap around vegetation, but tough to knock down trees and resist attack. How can one appendage satisfy both constraints? In this combined experimental and theoretical study, we challenged African elephants to reach far-away objects with only horizontal extensions of their trunk. Surprisingly, the trunk does not extend uniformly, but instead exhibits a dorsal "joint" that stretches 15% more than the corresponding ventral section. Using material testing with the skin of a deceased elephant, we show that the asymmetry is due in part to patterns of the skin. The dorsal skin is folded and 15% more pliable than the wrinkled ventral skin. Skin folds protect the dorsal section and stretch to facilitate downward wrapping, the most common gripping style when picking up items. The elephant's skin is also sufficiently stiff to influence its mechanics: At the joint, the skin requires 13 times more energy to stretch than the corresponding length of muscle. The use of wrinkles and folds to modulate stiffness may provide a valuable concept for both biology and soft robotics.

Hollow mandibles: Structural adaptation to high-speed and powerful strike in the trap-jaw ant Odontomachus monticola

The trap-jaw ant Odontomachus monticola manipulates its hollow mandibles to generate extremely high speed to impact various objects through a catapult mechanism, making the violent collision occur between the mandible and the impacted objects, which increases the risk of structural failure. However, how the ant balances the trade-off between the powerful clamping and impact resistance by using this hollow structure remains elusive. In this combined experimental and theoretical investigation, we revealed that the hollowness ratio of the mandible plays an essential role in counterbalancing the trade-off. Micro-CT and high-speed images suggested that the hollow mandibles facilitate a high angular acceleration to 10⁸ rad/s² for an enormous clamping force. However, this hollowness might challenge the structural strength while collision occurs. We found that under the same actuating energy, the von Mises stress of the object collided by the natural mandible striking can reach up to 2.9 times that generated by the entirely solid mandible. We defined the efficiency ratio of the von Mises stress on the impacted object to that on the mandible and found the hollow mandible achieves a more robust balance between powerful clamping and impact resistance compared to the solid mandible.

The effect of size-scale on the kinematics of elastic energy release

Elastically-driven motion has been used as a strategy to achieve high speeds in small organisms and engineered micro-robotic devices. We examine the size-scaling relations determining the limit of elastic energy release from elastomer bands that efficiently cycle mechanical energy with minimal loss. The maximum center-of-mass velocity of the elastomer bands was found to be size-scale independent, while smaller bands demonstrated larger accelerations and shorter durations of elastic energy release. Scaling relationships determined from these measurements are consistent with the performance of small organisms and engineered devices which utilize elastic elements to power motion.

The principles of cascading power limits in small, fast biological and engineered systems

Mechanical power limitations emerge from the physical trade-off between force and velocity. Many biological systems incorporate power-enhancing mechanisms enabling extraordinary accelerations at small sizes. We establish how power enhancement emerges through the dynamic coupling of motors, springs, and latches and reveal how each displays its own force-velocity behavior. We mathematically demonstrate a tunable performance space for spring-actuated movement that is applicable to biological and synthetic systems. Incorporating nonideal spring behavior and parameterizing latch dynamics allows the identification of critical transitions in mass and trade-offs in spring scaling, both of which offer explanations for long-observed scaling patterns in biological systems. This analysis defines the cascading challenges of power enhancement, explores their emergent effects in biological and engineered systems, and charts a pathway for higher-level analysis and synthesis of power-amplified systems.

The tongue as a gripper

Frogs, chameleons and anteaters are striking examples of animals that can grab food using only their tongue. How does the soft and wet surface of a tongue grip onto objects before they are ingested? Here, we review the diversity of tongue projection methods, tongue roughnesses and tongue coatings, our goal being to highlight conditions for effective grip and mobility. A softer tongue can reach farther: the frog Rana pipiens tongue is 10 times softer than the human tongue and can extend to 130% of its length when propelled in a whip-like motion. Roughness can improve a tongue's grip: the spikes on a penguin Eudyptes chrysolophus tongue can be as large as fingernails, and help the penguin swallow fish. The saliva coating on the tongue, a non-Newtonian biofluid, can either lubricate or adhere to food. Frog saliva is 175 times more viscous than human saliva, adhering the tongue to slippery, furry or feathery food. We pay particular attention to using mathematical models such as the theory of capillarity, elasticity and friction to elucidate the parameters for effective tongue use across a variety of vertebrate species. Finally, we postulate how the use of wet and rough surfaces to simultaneously sense and grip may inspire new strategies in emerging technologies such as soft robots.

The elastic secrets of the chameleon tongue

The ballistic projection of the chameleon tongue is an extreme example of quick energy release in the animal kingdom. It relies on a complicated physiological structure and an elaborate balance between tissue elasticity, collagen fibre anisotropy, active muscular contraction, stress release and geometry. A general biophysical model for the dynamics of the chameleon tongue based on large deformation elasticity is proposed. The model involves three distinct coupled subsystems: the energetics of the intralingual sheaths, the mechanics of the activating accelerator muscle and the dynamics of tongue extension. Together, these three systems elucidate the key physical principles of prey-catching among chameleonides.

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.

Developmental plasticity in an unusual animal: the effects of incubation temperature on behavior in chameleons

The thermal environment within a reptile nest can affect the phenotypic traits of hatchlings, and hence (potentially) their fitness. Research on this topic needs to measure phenotypic traits relevant to the species involved; and hence, studies on unusual species need to measure unusual traits. We investigated the effects of two incubation temperatures on the morphology and behaviour of hatchling veiled chameleons (Chamaeleo calyptratus). Colder-incubated eggs exhibited a longer incubation period, but produced larger faster-growing hatchlings. Incubation treatment also affected a chameleon’s activity level and its unique foraging tactics. Cold-incubated animals were more sedentary, caught prey faster, and extended their tongues farther to reach prey than did their warm-incubated counterparts. Thus, the fitness costs of low temperatures in the nest (slow development, and thus late hatching) may be offset by incubation-derived enhancements in hatchling growth rates and foraging abilities.

Tongue adhesion in the horned frog Ceratophrys sp

Frogs are well-known to capture elusive prey with their protrusible and adhesive tongues. However, the adhesive performance of frog tongues and the mechanism of the contact formation with the prey item remain unknown. Here we measured for the first time adhesive forces and tongue contact areas in living individuals of a horned frog (Ceratophrys sp.) against glass. We found that Ceratophrys sp. generates adhesive forces well beyond its own body weight. Surprisingly, we found that the tongues adhered stronger in feeding trials in which the coverage of the tongue contact area with mucus was relatively low. Thus, besides the presence of mucus, other features of the frog tongue (surface profile, material properties) are important to generate sufficient adhesive forces. Overall, the experimental data shows that frog tongues can be best compared to pressure sensitive adhesives (PSAs) that are of common technical use as adhesive tapes or labels.

Comparative feeding kinematics of tropical hylid tadpoles

Anuran larvae, which are otherwise simple in shape, typically have complex keratinized mouthparts (i.e. labial teeth and jaw sheaths) that allow them to graze upon surfaces. The diversity in these structures among species presumably reflects specializations that allow for maximal feeding efficiency on different types of food. However, we lack a general understanding of how these oral structures function during feeding. We used high-speed digital imaging (500 Hz) to observe tadpoles of six species from the anuran family Hylidae grazing on a standardized food-covered substrate. Tadpoles of these species vary in the number of labial tooth rows, belong to two different feeding guilds (benthic and nektonic), and inhabit ponds and streams. We confirmed that the labial teeth in these species serve two functions: anchoring the mouth to the substrate and raking material off of the substrate. In general, tadpoles with a larger maximum gape or those with fewer labial tooth rows opened and closed their mouths slower than tadpoles with smaller gape or more tooth rows. Nektonic feeding tadpoles released each of their tooth rows proportionally earlier in the gape cycle compared with benthic feeding tadpoles. Lastly, we found some support for the idea that deformation of the jaw sheaths during a feeding cycle is predictable based on tadpole feeding guild. Collectively, our data show that anatomical (e.g. number of labial teeth) and ecological features (e.g. feeding guild) of tadpoles significantly influence how tadpoles open and close their mouths during feeding.

Thermal effects on motor control and in vitro muscle dynamics of the ballistic tongue apparatus in chameleons

Temperature strongly affects whole-organism performance through its effect on muscle contractile rate properties, but movements powered by elastic recoil are liberated from much of the performance decline experienced by muscle-powered movements at low temperature. We examined the motor control and muscle contractile physiology underlying an elastically powered movement - tongue projection in chameleons - and the associated muscle powered retraction to test the premise that the thermal dependence of muscle contractile dynamics is conserved. We further tested the associated hypothesis that motor control patterns and muscle contractile dynamics must change as body temperature varies, despite the thermal robustness of tongue-projection performance. We found that, over 14-26°C, the latency between the onset of the tongue projector muscle activity and tongue projection was significantly affected by temperature (Q(10) of 2.56), as were dynamic contractile properties of the tongue projector and retractor muscles (Q(10) of 1.48-5.72), supporting our hypothesis that contractile rates slow with decreasing temperature and, as a result, activity durations of the projector muscle increase at low temperatures. Over 24-36°C, thermal effects on motor control and muscle contractile properties declined, indicating that temperature effects are more extreme across lower temperature ranges. Over the entire 14-36°C range, intensity of muscle activity for the tongue muscles was not affected by temperature, indicating that recruitment of motor units in neither muscle increases with decreasing temperature to compensate for declining contractile rates. These results reveal that specializations in morphology and motor control, not muscle contractile physiology, are responsible for the thermal robustness of tongue projection in chameleons.