The evolution of unique cranial traits in leporid lagomorphs

Background

The leporid lagomorphs (rabbits and hares) are adapted to running and leaping (some more than others) and consequently have unique anatomical features that distinguish them from ochotonid lagomorphs (pikas) and from their rodent relatives. Two traits that have received some attention are fenestration of the lateral wall of the maxilla and facial tilting. These features are known to correlate with specialised locomotory form in that the faster running species will generally have fenestration that occupies the dorsal and the anteroventral surface of the maxillary corpus and a more acute facial tilt angle. Another feature is an intracranial joint that circumscribes the back of the skull, thought to facilitate skull mobility. This joint separates the anterior portion of the cranium (including the dentition, rostrum and orbit) from the posterior portion of the cranium (which encompasses the occipital and the auditory complex). Aside from the observation that the intracranial joint is absent in pikas (generalist locomotors) and appears more elaborate in genera with cursorial and saltatorial locomotory habits, the evolutionary history, biomechanical function and comparative anatomy of this feature in leporids lacks a comprehensive evaluation.

Methodology

The present work analysed the intracranial joint, facial tilting and lateral fenestration of the wall of the maxilla in the context of leporid evolutionary history using a Bayesian inference of phylogeny (18 genera, 23 species) and ancestral state reconstruction. These methods were used to gather information about the likelihood of the presence of these three traits in ancestral groups.

Results

Our phylogenetic analyses found it likely that the last common ancestor of living leporids had some facial tilting, but that the last common ancestor of all lagomorphs included in the dataset did not. We found that it was likely that the last common ancestor of living leporids had fenestration that occupies the dorsal, but not the anteroventral, surface of the maxillary corpus. We also found it likely that the last common ancestor of living leporids had an intracranial joint, but that the last common ancestor of all living lagomorphs did not. These findings provide a broader context to further studies of evolutionary history and will help inform the formulation and testing of functional hypotheses.

The evolution of asymmetrical gaits in gnathostome vertebrates

The difficulty of quantifying asymmetrical limb movements, compared with symmetrical gaits, has resulted in a dearth of information concerning the mechanics and adaptive benefits of these locomotor patterns. Further, no study has explored the evolutionary history of asymmetrical gaits using phylogenetic comparative techniques. Most foundational work suggests that symmetrical gaits are an ancestral feature and asymmetrical gaits are a more derived feature of mammals, some crocodilians, some turtles, anurans and some fish species. In this study, we searched the literature for evidence of the use of asymmetrical gaits across extant gnathostomes, and from this sample (n=308 species) modeled the evolution of asymmetrical gaits assuming four different scenarios. Our analysis shows strongest support for an evolutionary model where asymmetrical gaits are ancestral for gnathostomes during benthic walking and could be both lost and gained during subsequent gnathostome evolution. We were unable to reconstruct the presence/absence of asymmetrical gaits at the tetrapod, amniote, turtle and crocodilian nodes with certainty. The ability to adopt asymmetrical gaits was likely ancestral for Mammalia but was probably not ancestral for Amphibia and Lepidosauria. The absence of asymmetrical gaits in certain lineages may be attributable to neuromuscular and/or anatomical constraints and/or generally slow movement not associated with these gaits. This finding adds to the growing body of work showing the early gnathostomes and tetrapods may have used a diversity of gaits, including asymmetrical patterns of limb cycling.

Evolutionary history of quadrupedal walking gaits shows mammalian release from locomotor constraint

Vertebrates employ an impressive range of strategies for coordinating their limb movements while walking. Although this gait variation has been quantified and hypotheses for its origins tested in select tetrapod lineages, a comprehensive understanding of gait evolution in a macroevolutionary context is currently lacking. We used freely available internet videos to nearly double the number of species with quantitative gait data, and used phylogenetic comparative methods to test key hypotheses about symmetrical gait origin and evolution. We find strong support for an ancestral lateral-sequence diagonal-couplet gait in quadrupedal gnathostomes, and this mode is remarkably conserved throughout tetrapod phylogeny. Evolutionary rate analyses show that mammals overcame this ancestral constraint, resulting in a greater range of phase values than any other tetrapod lineage. Diagonal-sequence diagonal-couplet gaits are significantly associated with arboreality in mammals, though this relationship is not recovered for other tetrapod lineages. Notably, the lateral-sequence lateral-couplet gait, unique to mammals among extant tetrapods, is not associated with any traditional explanations. The complex drivers of gait diversification in mammals remain unclear, but our analyses suggest that their success was due, in part, to release from a locomotor constraint that has probably persisted in other extant tetrapod lineages for over 375 Myr.

Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation

Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard’s bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard’s lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail’ motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard’s undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard’s undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators.

Kinematic integration during prey capture varies among individuals but not ecological contexts in bluegill sunfish, Lepomis macrochirus (Perciformes: Centrarchidae)

The general ability of components of an organism to work together to achieve a common goal has been termed integration and is often studied empirically by deconstructing organisms into component parts and quantifying covariation between them. Kinematic traits describing movement are useful for allowing organisms to respond to ecological contexts that vary over short time spans (milliseconds, minutes, etc.). Integration of these traits can contribute to the maintenance of the function of the whole organism, but it is unclear how modulation of component kinematic traits affects their integration. We examined the integration of swimming and feeding during capture of alternative prey types in bluegill sunfish (Lepomis macrochirus). Despite the expected modulation of kinematics, integration within individuals was inflexible across prey types, suggesting functional redundancy for solving a broad constraint. However, integration was variable among individuals, suggesting that individuals vary in their solutions for achieving whole-organism function and that this solution acts as a ‘top-down’ regulator of component traits, which provides insight into why kinematic variation is observed. Additionally, variation in kinematic integration among individuals could serve as an understudied target of environmental selection on prey capture, which is a necessary first step towards the observed divergence in integration among populations and species.

The roles of joint tissues and jaw muscles in palatal biomechanics of the savannah monitor (Varanus exanthematicus) and their significance for cranial kinesis

Numerous vertebrates exhibit cranial kinesis, or movement between bones of the skull and mandible other than at the jaw joint. Many kinetic species possess a particular suite of features to accomplish this movement, including flexible cranial joints and protractor musculature. Whereas the musculoskeletal anatomy of these kinetic systems is well understood, how these joints are biomechanically loaded, how different soft tissues affect joint loading and kinetic capacity, and how the protractor musculature loads the skull remain poorly understood. Here, we present a finite element model of the savannah monitor, Varanus exanthematicus, a modestly kinetic lizard, to better elucidate the roles of soft tissue in mobile joints and protractor musculature in cranial loading. We describe the 3D resultants of jaw muscles and the histology of palatobasal, otic and jaw joints. We tested the effects of joint tissue type, bite point and muscle load to evaluate the biomechanical role of muscles on the palate and braincase. We found that the jaw muscles have significant mediolateral components that can impart stability across palatocranial joints. Articular tissues affect the magnitude of strains experienced around the palatobasal and otic joints. Without protractor muscle loading, the palate, quadrate and braincase experience higher strains, suggesting this muscle helps insulate the braincase and palatoquadrate from high loads. We found that the cross-sectional properties of the bones of V. exanthematicus are well suited for performing under torsional loads. These findings suggest that torsional loading regimes may have played a more important role in the evolution of cranial kinesis in lepidosaurs than previously appreciated.

Human crawling performance and technique revealed by inertial measurement units

Human crawling performance and technique are of broad interest to roboticists, biomechanists, and military personnel. This study explores the variables that define crawling performance in the context of an outdoor obstacle course used by military organizations worldwide to evaluate the effects of load and personal equipment on warfighter performance. Crawling kinematics, measured from four body-worn inertial measurement units (IMUs) attached to the upper arms and thighs, are recorded for thirty-three participants. The IMU data is distilled to four metrics of crawling performance; namely, crawl speed, crawl stride time, ipsilateral limb coordination, and contralateral limb coordination. We hypothesize that higher performance (as identified by higher crawl speeds) is associated with more coordinated limbs and lower stride times. A cluster analysis groups participants into high and low performers exhibiting statistically significant differences across the four performance metrics. In particular, high performers exhibit superior limb coordination associated with a "diagonal gait" in which contralateral limbs move largely in-phase to produce faster crawl speeds and shorter crawl stride times. In contrast, low performers crawl at slower speeds with longer crawl stride times and less limb coordination. Beyond these conclusions, a major contribution of this study is a method for deploying wearable IMUs to study crawling in contextually relevant (i.e. non-laboratory) environments.

Context-specific response inhibition and differential impact of a learning bias in a lizard

Response inhibition (inhibiting prepotent responses) is needed for reaching a more favourable goal in situations where reacting automatically would be detrimental. Inhibiting prepotent responses to resist the temptation of a stimulus in certain situations, such as a novel food item, can directly affect an animal's survival. In humans and dogs, response inhibition varies between contexts and between individuals. We used two contextually different experiments to investigate response inhibition in the eastern water skink (Eulamprus quoyii): reversal of a visual two-choice discrimination and a cylinder detour task. During the two-choice task, half of our lizards were able to reach an initial learning criterion, but, thereafter, did not show consistent performance. Only two individuals reached a more stringent criterion, but subsequently failed during reversals. Furthermore, half of our animals were not able to inhibit a pre-existing side preference which affected their ability to learn during the two-choice task. Skinks were, however, able to achieve a detour around a cylinder performing at levels comparable to brown lemurs, marmosets, and some parrot species. A comparison between the tasks showed that reaching the initial criterion was associated with low success during the detour task, indicating that response inhibition could be context-specific in the water skink. To the best of our knowledge, this is the first study to examine inhibitory control and motor self-regulation in a lizard species.

Were early pterosaurs inept terrestrial locomotors?

Pterodactyloid pterosaurs are widely interpreted as terrestrially competent, erect-limbed quadrupeds, but the terrestrial capabilities of non-pterodactyloids are largely thought to have been poor. This is commonly justified by the absence of a non-pterodactyloid footprint record, suggestions that the expansive uropatagia common to early pterosaurs would restrict hindlimb motion in walking or running, and the presence of sprawling forelimbs in some species. Here, these arguments are re-visited and mostly found problematic. Restriction of limb mobility is not a problem faced by extant animals with extensive fight membranes, including species which routinely utilise terrestrial locomotion. The absence of non-pterodactyloid footprints is not necessarily tied to functional or biomechanical constraints. As with other fully terrestrial clades with poor ichnological records, biases in behaviour, preservation, sampling and interpretation likely contribute to the deficit of early pterosaur ichnites. Suggestions that non-pterodactyloids have slender, mechanically weak limbs are demonstrably countered by the proportionally long and robust limbs of many Triassic and Jurassic species. Novel assessments of pterosaur forelimb anatomies conflict with notions that all non-pterodactyloids were obligated to sprawling forelimb postures. Sprawling forelimbs seem appropriate for species with ventrally-restricted glenoid articulations (seemingly occurring in rhamphorhynchines and campylognathoidids). However, some early pterosaurs, such as Dimorphodon macronyx and wukongopterids, have glenoid arthrologies which are not ventrally restricted, and their distal humeri resemble those of pterodactyloids. It seems fully erect forelimb stances were possible in these pterosaurs, and may be probable given proposed correlation between pterodactyloid-like distal humeral morphology and forces incurred through erect forelimb postures. Further indications of terrestrial habits include antungual sesamoids, which occur in the manus and pes anatomy of many early pterosaur species, and only occur elsewhere in terrestrial reptiles, possibly developing through frequent interactions of large claws with firm substrates. It is argued that characteristics possibly associated with terrestriality are deeply nested within Pterosauria and not restricted to Pterodactyloidea as previously thought, and that pterodactyloid-like levels of terrestrial competency may have been possible in at least some early pterosaurs.

A comparative study of single-leg ground reaction forces in running lizards

The role of different limbs in supporting and propelling the body has been studied in many species with animals appearing to have either similarity in limb function or differential limb function. Differential hindlimb versus forelimb function has been proposed as a general feature of running with a sprawling posture and as benefiting sprawled postured animals by enhancing maneuvering and minimizing joint moments. Yet only a few species have been studied and thus the generality of differential limb function in running animals with sprawled postures is unknown. We measured the limb lengths of seven species of lizard and their single-limb three-dimensional ground reaction forces during high-speed running. We found that all species relied on the hindlimb for producing accelerative forces. Braking forces were forelimb dominated in four species and equally distributed between limbs in the other three. Vertical forces were dominated by the hindlimb in three species and equally distributed between the forelimb and hindlimb in the other four. Medial forces were dominated by the hindlimb in four species and equally distributed in the other three, with all Iguanians exhibiting hindlimb-biased medial forces. Relative hindlimb to forelimb length of each species was related to variation in hindlimb versus forelimb medial forces; species with relatively longer hindlimbs compared with forelimbs exhibited medial forces that were more biased towards the hindlimbs. These results suggest that the function of individual limbs in lizards varies across species with only a single general pattern (hindlimb-dominated accelerative force) being present.

Lizard tricks: Overcoming conflicting requirements of speed vs climbing ability by altering biomechanics of the lizard stride

Adaptations promoting greater performance in one habitat are thought to reduce performance in others. However, there are many examples of where, despite habitat differences, such predicted differences in performance do not occur. One such example is the relationship between locomotory performance to habitat for varanid lizards. To explain the lack of difference in locomotor performance we examined detailed observation of the kinematics of each lizard's stride. Differences in kinematics were greatest between climbing and non-climbing species. For terrestrial lizards, the kinematics indicated that increased femur adduction, femur rotation and ankle angle all contributed positively to changes in stride length, but they were constrained for climbing species, probably due to biomechanical restrictions on the centre of mass height (to increase stability on vertical surfaces). Despite climbing species having restricted stride length, no differences have been previously reported in sprint speed between climbing and non-climbing varanids. This is best explained by climbing varanids using an alternative speed modulation strategy of varying stride frequency to avoid the potential trade-off of speed vs stability on vertical surfaces. Thus, by measuring the relevant biomechanics for lizard strides, we have shown how kinematic differences among species can mask performance differences typically associated with habitat variation.

Symmetrical gaits and center of mass mechanics in small-bodied, primitive mammals

Widely accepted relationships between gaits (footfall patterns) and center of mass mechanics have been formulated from observations for cursorial mammals. However, sparse data on smaller or more generalized forms suggest a fundamentally different relationship. This study explores locomotor dynamics in one eutherian and five metatherian (marsupials) mammals-all small-bodied (<2 kg) with generalized body plans that utilize symmetrical gaits. Across our sample, trials conforming to vaulting mechanics occurred least frequently (<10% of all trials) while bouncing mechanics was obtained most commonly (60%); the remaining trials represented mixed mechanics. Contrary to the common situation in large mammals, there was no evidence for discrete gait switching within symmetrical gaits as speed increased. This was in part due to the common practice of grounded running. The adaptive advantage of different patterns of center-of-mass motion and their putative energy savings remain questionable in small-bodied mammals.

Effects of different substrates on the sprint performance of lizards

The variation in substrate structure is one of the most important determinants of the locomotor abilities of lizards. Lizards are found across a range of habitats, from large rocks to loose sand, each of them with conflicting mechanical demands on locomotion. We examined the relationships among sprint speed, morphology and different types of substrate surfaces in species of lizards that exploit different structural habitats (arboreal, saxicolous, terrestrial and arenicolous) in a phylogenetic context. Our main goals were to assess which processes drive variability in morphology (i.e. phylogeny or adaptation to habitat) in order to understand how substrate structure affects sprint speed in species occupying different habitats and to determine the relationship between morphology and performance. Liolaemini lizards show that most morphological traits are constrained by phylogeny, particularly toe 3, the femur and foot. All ecological groups showed significant differences on rocky surfaces. Surprisingly, no ecological group performed better on the surface resembling its own habitat. Moreover, all groups exhibited significant differences in sprint speed among the three different types of experimental substrates and showed the best performance on sand, with the exception of the arboreal group. Despite the fact that species use different types of habitats, the highly conservative morphology of Liolaemini species and the similar levels of performance on different types of substrates suggest that they confer to the ‘jack of all trades and master of none’ principle.

Time-varying motor control of autotomized leopard gecko tails: multiple inputs and behavioral modulation

Autotomy (voluntary loss of an appendage) is common among diverse groups of vertebrates and invertebrates, and much attention has been given to ecological and developmental aspects of tail autotomy in lizards. Although most studies have focused on the ramifications for the lizard (behavior, biomechanics, energetics, etc.), the tail itself can exhibit interesting behaviors once segregated from the body. For example, recent work highlighted the ability of leopard gecko tails to jump and flip, in addition to being able to swing back and forth. Little is known, however, about the control mechanisms underlying these movements. Using electromyography, we examined the time-varying in vivo motor patterns at four sites (two proximal and two distal) in the tail of the leopard gecko, Eublepharis macularius, following autotomy. Using these data we tested the hypothesis that the disparity in movements results simply from overlapping pattern generators within the tail. We found that burst duration, but not cycle duration, of the rhythmic swings reached a plateau at approximately 150 s following autotomy. This is likely because of physiological changes related to muscle fatigue and ischemia. For flips and jumps, burst and cycle duration exhibited no regular pattern. The coefficient of variation in motor patterns was significantly greater for jumps and flips than for rhythmic swings. This supports the conclusion that the different tail behaviors do not stem from overlapping pattern generators, but that they rely upon independent neural circuits. The signal controlling jumps and flips may be modified by sensory information from the environment. Finally, we found that jumps and flips are initiated using relatively synchronous activity between the two sides of the tail. In contrast, alternating activation of the right and left sides of the tail result in rhythmic swings. The mechanism underlying this change in tail behavior is comparable to locomotor gait changes in vertebrates.

The correlation between locomotor performance and hindlimb kinematics during burst locomotion in the Florida scrub lizard, Sceloporus woodi

Burst locomotion is thought to be closely linked to an organism's ability to survive and reproduce. During the burst, animals start from a standstill and then rapidly accelerate to near-maximum running speeds. Many previous studies have described the functional predictors of maximum running speed; however, only recently has work emerged that describes the morphological, functional and biomechanical underpinnings of acceleration capacity. Herein we present data on the three-dimensional hindlimb kinematics during burst locomotion, and the relationship between burst locomotor kinematics and locomotor performance in a small terrestrial lizard (Sceloporus woodi). We focus only on stance phase joint angular kinematics. Sceloporus woodi exhibited considerable variation in hindlimb kinematics and performance across the first three strides of burst locomotion. Stride 1 was defined by larger joint angular excursions at the knee and ankle; by stride 3, the knee and ankle showed smaller joint angular excursions. The hip swept through similar arcs across all strides, with most of the motion caused by femoral retraction and rotation. Metatarsophalangeal (MTP) kinematics exhibited smaller maximum angles in stride 1 compared with strides 2 and 3. The significant correlations between angular kinematics and locomotor performance were different across the first three strides. For stride 1, MTP kinematics predicted final maximum running speed; this correlation is likely explained by a correlation between stride 1 MTP kinematics and stride 2 acceleration performance. For stride 3, several aspects of joint kinematics at each joint predicted maximum running speed. Overall, S. woodi exhibits markedly different kinematics, performance and kinematics-performance correlations across the first three strides. This finding suggests that future studies of burst locomotion and acceleration performance should perform analyses on a stride-by-stride basis and avoid combining data from different strides across the burst locomotor event. Finally, the kinematics-performance correlations observed in S. woodi were quite different from those described for other species, suggesting that there is not a single kinematic pattern that is optimal for high burst performance.

Kinematics of quadrupedal locomotion in sugar gliders (Petaurus breviceps): effects of age and substrate size

Arboreal mammals face unique challenges to locomotor stability. This is particularly true with respect to juveniles, who must navigate substrates similar to those traversed by adults, despite a reduced body size and neuromuscular immaturity. Kinematic differences exhibited by juveniles and adults on a given arboreal substrate could therefore be due to differences in body size relative to substrate size, to differences in neuromuscular development, or to both. We tested the effects of relative body size and age on quadrupedal kinematics in a small arboreal marsupial (the sugar glider, Petaurus breviceps; body mass range of our sample 33-97 g). Juvenile and adult P. breviceps were filmed moving across a flat board and three poles 2.5, 1.0 and 0.5 cm in diameter. Sugar gliders (regardless of age or relative speed) responded to relative decreases in substrate diameter with kinematic adjustments that promote stability; they increased duty factor, increased the average number of supporting limbs during a stride, increased relative stride length and decreased relative stride frequency. Limb phase increased when moving from the flat board to the poles, but not among poles. Compared with adults, juveniles (regardless of relative body size or speed) used lower limb phases, more pronounced limb flexion, and enhanced stability with higher duty factors and a higher average number of supporting limbs during a stride. We conclude that although substrate variation in an arboreal environment presents similar challenges to all individuals, regardless of age or absolute body size, neuromuscular immaturity confers unique problems to growing animals, requiring kinematic compensation.