Linking Tooth Shape to Strike Mechanics in the Boa constrictor

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.

Armed to the teeth: The underestimated diversity in tooth shape in snakes and its relation to feeding behavior and diet

The structure, composition, and shape of teeth have been related to dietary specialization in many vertebrate species, but comparative studies on snakes' teeth are lacking. Yet, snakes have diverse dietary habits that may impact the shape of their teeth. We hypothesize that prey properties, such as hardness and shape, as well as feeding behavior, such as aquatic or arboreal predation, or holding vigorous prey, impose constraints on the evolution of tooth shape in snakes. We compared the morphology of the dentary teeth of 63 species that cover the phylogenetic and dietary diversity of snakes, using 3D geometric morphometrics and linear measurements. Our results show that prey hardness, foraging substrate, and the main feeding mechanical challenge are important drivers of tooth shape, size, and curvature. Overall, long, slender, curved teeth with a thin layer of hard tissue are observed in species that need to maintain a grip on their prey. Short, stout, less curved teeth are associated with species that undergo high or repeated loads. Our study demonstrates the diversity of tooth morphology in snakes and the need to investigate its underlying functional implications to better understand the evolution of teeth in vertebrates.

The effect of structural curvature on the load-bearing characteristics of biomechanical elements

Miniature, sharped-edge, curved-shape biomechanical elements appear in various biological systems and grant them diverse functional capabilities, such as mechanical defense, venom injection, and frictional support. While these biomechanical elements demonstrate diverse curved shapes that span from slightly curved needle-like elements (e.g., stingers), through moderately curved anchor-like elements (e.g., claws), to highly curved hook-like elements (e.g., fangs)-the curvature effect on the load-bearing capabilities of these biomechanical elements are yet mostly unknown. Here, we employ structural-mechanical modeling to explore the relationships between the curved shapes of biomechanical elements on their local deformation mechanisms, overall elastic stiffness, and reaction forces on a target surface. We found that the curvature of the biomechanical element is a prime modulator of its load-bearing characteristics that substantially affect its functional capabilities. Slightly curved elements are preferable for penetration states with optimal load-bearing capabilities parallel to their tips but possess high directional sensitivity and degraded capabilities for scratching states; contrary, highly curved elements are suitable for combined penetration-scratching states with mild directional sensitivity and optimal load-bearing capabilities in specialized angular orientation to their tips. These structural-mechanical principles are tightly linked to the intrinsic functional roles of biomechanical elements in diverse natural systems, and their synthetic realizations may promote new engineering designs of advanced biomedical injections, functional surfaces, and micromechanical devices.

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.

Taking a stab at modelling canine tooth biomechanics in mammalian carnivores with beam theory and finite-element analysis

Canine teeth are vital to carnivore feeding ecology, facilitating behaviours related to prey capture and consumption. Forms vary with specific feeding ecologies; however, the biomechanics that drive these relationships have not been comprehensively investigated. Using a combination of beam theory analysis (BTA) and finite-element analysis (FEA) we assessed how aspects of canine shape impact tooth stress, relating this to feeding ecology. The degree of tooth lateral compression influenced tolerance of multidirectional loads, whereby canines with more circular cross-sections experienced similar maximum stresses under pulling and shaking loads, while more ellipsoid canines experienced higher stresses under shaking loads. Robusticity impacted a tooth's ability to tolerate stress and appears to be related to prey materials. Robust canines experience lower stresses and are found in carnivores regularly encountering hard foods. Slender canines experience higher stresses and are associated with carnivores biting into muscle and flesh. Curvature did not correlate with tooth stress; however, it did impact bending during biting. Our simulations help identify scenarios where canine forms are likely to break and pinpoint areas where this breakage may occur. These patterns demonstrate how canine shape relates to tolerating the stresses experienced when killing and feeding, revealing some of the form-function relationships that underpin mammalian carnivore ecologies.

Hang in there: comparative arboreal prey-handling in boa constrictors and ball pythons

Snakes are a diverse group of reptiles, having colonized almost every environment on the planet. Multiple snake lineages have independently evolved semiarboreal or completely arboreal species. As snakes lack limbs, the challenges of moving and feeding in an arboreal environment are numerous. Here we compare the prey-handling ability of the semiarboreal boa constrictor to the terrestrial ball python in a simulated arboreal context. Snakes were allowed to strike at rodent prey and attempt to swallow that prey while suspended. Boa constrictors were successful in feeding, using a complex suite of behaviors to maintain their position and manipulate their prey. Boa constrictors positioned rats so that swallowing occurred in the direction of gravity, and would use loops of their body to support the rat during swallowing. Ball pythons were frequently not successful in feeding, lacking the complex behaviors that boa constrictors frequently employed. Ball pythons would attempt to swallow, but in the majority of feeding attempts were ultimately unsuccessful. These unsuccessful feeding attempts were typically characterized by the ball pythons hanging upside-down, trying to swallow the prey against the direction of gravity. We suggest that behavioral modifications to feeding encouraged successful invasion of arboreal habitats, but more sampling of snake diversity is needed to explore the range and types of feeding behaviors that arboreal snakes employ.

Fang evolution in venomous snakes: Adaptation of 3D tooth shape to the biomechanical properties of their prey

Venomous snakes are among the world's most specialized predators. During feeding, they use fangs to penetrate the body tissues of their prey, but the success of this penetration depends on the shape of these highly specialized teeth. Here, we examined the evolution of fang shape in a wide range of snakes using 3D geometric morphometrics (3DGM) and cross-sectional tooth sharpness measurements. We investigated the relationship of these variables with six diet categories based on the prey's biomechanical properties, and tested for evolutionary convergence using two methods. Our results show that slender elongate fangs with sharp tips are used by snakes that target soft-skinned prey (e.g., mammals), whereas fangs become more robust and blunter as the target's skin becomes scaly (e.g., fish and reptiles) and eventually hard-shelled (e.g., crustaceans), both with and without correction for evolutionary allometry. Convergence in fang shape is present, indicating that fangs of snakes with the same diet are more similar than those of closely related species with different diets. Establishing the relationship between fang morphology and diet helps to explain how snakes became adapted to different lifestyles, while also providing a proxy to infer diet in lesser known species or extinct snakes from the fossil record.