The energetic costs of trunk and distal-limb loading during walking and running in guinea fowl Numida meleagris: I. Organismal metabolism and biomechanics

A Conceptual Exploration of Hamstring Muscle-Tendon Functioning during the Late-Swing Phase of Sprinting: The Importance of Evidence-Based Hamstring Training Frameworks

An eccentrically lengthening, energy-absorbing, brake-driven model of hamstring function during the late-swing phase of sprinting has been widely touted within the existing literature. In contrast, an isometrically contracting, spring-driven model of hamstring function has recently been proposed. This theory has gained substantial traction within the applied sporting world, influencing understandings of hamstring function while sprinting, as well as the development and adoption of certain types of hamstring-specific exercises. Across the animal kingdom, both spring- and motor-driven muscle-tendon unit (MTU) functioning are frequently observed, with both models of locomotive functioning commonly utilising some degree of active muscle lengthening to draw upon force enhancement mechanisms. However, a method to accurately assess hamstring muscle-tendon functioning when sprinting does not exist. Accordingly, the aims of this review article are three-fold: (1) to comprehensively explore current terminology, theories and models surrounding muscle-tendon functioning during locomotion, (2) to relate these models to potential hamstring function when sprinting by examining a variety of hamstring-specific research and (3) to highlight the importance of developing and utilising evidence-based frameworks to guide hamstring training in athletes required to sprint. Due to the intensity of movement, large musculotendinous stretches and high mechanical loads experienced in the hamstrings when sprinting, it is anticipated that the hamstring MTUs adopt a model of functioning that has some reliance upon active muscle lengthening and muscle actuators during this particular task. However, each individual hamstring MTU is expected to adopt various combinations of spring-, brake- and motor-driven functioning when sprinting, in accordance with their architectural arrangement and activation patterns. Muscle function is intricate and dependent upon complex interactions between musculoskeletal kinematics and kinetics, muscle activation patterns and the neuromechanical regulation of tensions and stiffness, and loads applied by the environment, among other important variables. Accordingly, hamstring function when sprinting is anticipated to be unique to this particular activity. It is therefore proposed that the adoption of hamstring-specific exercises should not be founded on unvalidated claims of replicating hamstring function when sprinting, as has been suggested in the literature. Adaptive benefits may potentially be derived from a range of hamstring-specific exercises that vary in the stimuli they provide. Therefore, a more rigorous approach is to select hamstring-specific exercises based on thoroughly constructed evidence-based frameworks surrounding the specific stimulus provided by the exercise, the accompanying adaptations elicited by the exercise, and the effects of these adaptations on hamstring functioning and injury risk mitigation when sprinting.

Anatomical Correlates of Cursoriality are Compromised by Body Size and Propensity to Burrow in a Group of Small Mammals (Lagomorpha)

Highly cursorial animals are specialised for fast, sustained running via specific morphological adaptations, notably including changes in limb segment length and mechanical advantage. Members of the order Lagomorpha (hares, rabbits and pikas) vary in cursorial ability; hares are generally highly cursorial, rabbits more frequently saltate, and pikas predominantly trot. Previous investigations of lagomorphs have identified anatomical trends correlated with this ‘cursoriality gradient’, however, the phylogenetic sampling of such investigations has been limited to three American species, namely the American pika (Ochotona princeps), brush rabbit (Sylvilagus bachmani), and black-tailed jackrabbit (Lepus californicus). Here, we expand the phylogenetic sample and body size range by including novel data from Australian samples of the European rabbit (Oryctolagus cuniculus) and European hare (L. europaeus), alongside unpublished data on the Eastern cottontail (S. floridanus). X-ray Computed Tomography and digital landmarking were used to capture proportions within the appendicular skeleton of ~ 40 specimens of each European species. In doubling the number of species studied, we find the previously-identified morphological gradients associated with cursorial behaviour are complicated when evaluated in the larger sample. The relative length and joint velocity of limbs was found to be lower than predicted in European rabbits and hares. Furthermore, we present a novel assessment of morphological integration in the lagomorph appendicular skeleton, finding between-limb covariation patterns that are generally similar to those of other mammals. Broadly, these results suggest cursoriality is only one of many selective forces driving lagomorph skeletal evolution, with variations in body size and fossoriality potentially having measurable impacts.

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

Designers of legged robots are challenged with creating mechanisms that allow energy-efficient locomotion with robust and minimalistic control. Sources of high energy costs in legged robots include the rapid loading and high forces required to support the robot's mass during stance and the rapid cycling of the leg's state between stance and swing phases. Here, we demonstrate an avian-inspired robot leg design, BirdBot, that challenges the reliance on rapid feedback control for joint coordination and replaces active control with intrinsic, mechanical coupling, reminiscent of a self-engaging and disengaging clutch. A spring tendon network rapidly switches the leg's slack segments into a loadable state at touchdown, distributes load among joints, enables rapid disengagement at toe-off through elastically stored energy, and coordinates swing leg flexion. A bistable joint mediates the spring tendon network's disengagement at the end of stance, powered by stance phase leg angle progression. We show reduced knee-flexing torque to a 10th of what is required for a nonclutching, parallel-elastic leg design with the same kinematics, whereas spring-based compliance extends the leg in stance phase. These mechanisms enable bipedal locomotion with four robot actuators under feedforward control, with high energy efficiency. The robot offers a physical model demonstration of an avian-inspired, multiarticular elastic coupling mechanism that can achieve self-stable, robust, and economic legged locomotion with simple control and no sensory feedback. The proposed design is scalable, allowing the design of large legged robots. BirdBot demonstrates a mechanism for self-engaging and disengaging parallel elastic legs that are contact-triggered by the foot's own lever-arm action.

Efficient movement strategies mitigate the energetic cost of dispersal

Dispersal is a critical, but costly, stage of life. During the active phase of dispersal-called transience-individuals face many costs, from increased mortality to reduced foraging opportunities. One cost that is often assumed, but rarely explicitly tested, is the energy expended in making large dispersal movements. However, this cost is not only determined by the distance individual's move, but also how they move. Using high-resolution GPS tracking of dispersing and resident vulturine guineafowl (Acryllium vulturinum), we show that transient individuals exhibit distinct movement behaviours-travelling farther, faster and straighter-that result in a significant reduction in the energetic costs of making large displacements. This strategy allows dispersing birds to travel, on average, 33.8% farther each day with only a 4.1% cost increase and without spending more time moving. Our study suggests that adaptive movement strategies can largely mitigate movement costs during dispersal, and that such strategies may be common.

The Interaction of Compliance and Activation on the Force-Length Operating Range and Force Generating Capacity of Skeletal Muscle: A Computational Study using a Guinea Fowl Musculoskeletal Model

A muscle’s performance is influenced by where it operates on its force–length (F–L) curve. Here we explore how activation and tendon compliance interact to influence muscle operating lengths and force-generating capacity. To study this, we built a musculoskeletal model of the lower limb of the guinea fowl and simulated the F–L operating range during fixed-end fixed-posture contractions for 39 actuators under thousands of combinations of activation and posture using three different muscle models: Muscles with non-compliant tendons, muscles with compliant tendons but no activation-dependent shift in optimal fiber length (L0), and muscles with both compliant tendons and activation-dependent shifts in L0. We found that activation-dependent effects altered muscle fiber lengths up to 40% and increased or decreased force capacity by up to 50% during fixed-end contractions. Typically, activation-compliance effects reduce muscle force and are dominated by the effects of tendon compliance at high activations. At low activation, however, activation-dependent shifts in L0 are equally important and can result in relative force changes for low compliance muscles of up to 60%. There are regions of the F–L curve in which muscles are most sensitive to compliance and there are troughs of influence where these factors have little effect. These regions are hard to predict, though, because the magnitude and location of these areas of high and low sensitivity shift with compliance level. In this study we provide a map for when these effects will meaningfully influence force capacity and an example of their contributions to force production during a static task, namely standing.

Walking economy is predictably determined by speed, grade, and gravitational load

The metabolic energy that human walking requires can vary by more than 10-fold, depending on the speed, surface gradient, and load carried. Although the mechanical factors determining economy are generally considered to be numerous and complex, we tested a minimum mechanics hypothesis that only three variables are needed for broad, accurate prediction: speed, surface grade, and total gravitational load. We first measured steady-state rates of oxygen uptake in 20 healthy adult subjects during unloaded treadmill trials from 0.4 to 1.6 m/s on six gradients: −6, −3, 0, 3, 6, and 9°. Next, we tested a second set of 20 subjects under three torso-loading conditions (no-load, +18, and +31% body weight) at speeds from 0.6 to 1.4 m/s on the same six gradients. Metabolic rates spanned a 14-fold range from supine rest to the greatest single-trial walking mean (3.1 ± 0.1 to 43.3 ± 0.5 ml O2·kg-body−1·min−1, respectively). As theorized, the walking portion (V̇o2-walk =  V̇o2-gross – V̇o2-supine-rest) of the body’s gross metabolic rate increased in direct proportion to load and largely in accordance with support force requirements across both speed and grade. Consequently, a single minimum-mechanics equation was derived from the data of 10 unloaded-condition subjects to predict the pooled mass-specific economy (V̇o2-gross, ml O2·kg-body + load−1·min−1) of all the remaining loaded and unloaded trials combined ( n = 1,412 trials from 90 speed/grade/load conditions). The accuracy of prediction achieved ( r2 = 0.99, SEE = 1.06 ml O2·kg−1·min−1) leads us to conclude that human walking economy is predictably determined by the minimum mechanical requirements present across a broad range of conditions.

NEW & NOTEWORTHY Introduced is a “minimum mechanics” model that predicts human walking economy across a broad range of conditions from only three variables: speed, surface grade, and body-plus-load mass. The derivation/validation data set includes steady-state loaded and unloaded walking trials ( n = 3,414) that span a fourfold range of walking speeds on each of six different surface gradients (−6 to +9°). The accuracy of our minimum mechanics model ( r2 = 0.99; SEE = 1.06 ml O2·kg−1·min−1) appreciably exceeds that of currently used standards.

The peacock train does not handicap cursorial locomotor performance

Exaggerated traits, like the peacock train, are recognized as classic examples of sexual selection. The evolution of sexual traits is often considered paradoxical as, although they enhance reproductive success, they are widely presumed to hinder movement and survival. Many exaggerated traits represent an additional mechanical load that must be carried by the animal and therefore may influence the metabolic cost of locomotion and constrain locomotor performance. Here we conducted respirometry experiments on peacocks and demonstrate that the exaggerated sexually selected train does not compromise locomotor performance in terms of the metabolic cost of locomotion and its kinematics. Indeed, peacocks with trains had a lower absolute and mass specific metabolic cost of locomotion. Our findings suggest that adaptations that mitigate any costs associated with exaggerated morphology are central in the evolution of sexually selected traits.

Terrestrial movement energetics: current knowledge and its application to the optimising animal

The energetic cost of locomotion can be a substantial proportion of an animal's daily energy budget and thus key to its ecology. Studies on myriad species have added to our knowledge about the general cost of animal movement, including the effects of variations in the environment such as terrain angle. However, further such studies might provide diminishing returns on the development of a deeper understanding of how animals trade-off the cost of movement with other energy costs, and other ecological currencies such as time. Here, I propose the ‘individual energy landscape’ as an approach to conceptualising the choices facing the optimising animal. In this Commentary, first I outline previous broad findings about animal walking and running locomotion, focusing in particular on the use of net cost of transport as a metric of comparison between species, and then considering the effects of environmental perturbations and other extrinsic factors on movement costs. I then introduce and explore the idea that these factors combine with the behaviour of the animal in seeking short-term optimality to create that animal's individual energy landscape – the result of the geographical landscape and environmental factors combined with the animal's selected trade-offs. Considering an animal's locomotion energy expenditure within this context enables hard-won empirical data on transport costs to be applied to questions about how an animal can and does move through its environment to maximise its fitness, and the relative importance, or otherwise, of locomotion energy economy.

Ontogeny of sex differences in the energetics and kinematics of terrestrial locomotion in leghorn chickens (Gallus gallus domesticus)

Sex differences in locomotor performance may precede the onset of sexual maturity and/or arise concomitantly with secondary sex characteristics. Here, we present the first study to quantify the terrestrial locomotor morphology, energetics and kinematics in a species, either side of sexual maturation. In domestic leghorn chickens (Gallus gallus domesticus) sexual maturation brings about permanent female gravidity and increased male hind limb muscle mass. We found that the sexes of a juvenile cohort of leghorns shared similar maximum sustainable speeds, while in a sexually mature cohort maximum sustainable speeds were greater by 67% (males) and 34% (females). Furthermore, relative to that in juveniles of the same sex, the absolute duration of leg swing was longer in mature males and shorter in mature females. Consequently, the proportion of a stride that each limb was in contact with the ground (duty factor) was higher in sexually mature females compared to males. Modulation of the duty factor with the development of secondary sex characteristics may act to minimize mechanical work in males; and minimise mechanical power and/or peak force in females. A greater incremental response of mass-specific metabolic power to speed in males compared to females was common to both age cohorts and, therefore, likely results from physiological sexual dimorphisms that precede sexual maturation.

Differential sex-specific walking kinematics in leghorn chickens (Gallus gallus domesticus) selectively bred for different body size

The differing limb dynamics and postures of small and large terrestrial animals may be mechanisms for minimising metabolic costs under scale-dependent muscle force, work and power demands; however, empirical evidence for this is lacking. Leghorn chickens (Gallus gallus domesticus) are highly dimorphic: males have greater body mass and relative muscle mass than females, which are permanently gravid and have greater relative intestinal mass. Furthermore, leghorns are selected for standard (large) and bantam (small) varieties and the former are sexually dimorphic in posture, with females having a more upright limb. Here, high-speed videography and morphological measurements were used to examine the walking gaits of leghorn chickens of the two varieties and sexes. Hind limb skeletal elements were geometrically similar among the bird groups, yet the bird groups did not move with dynamic similarity. In agreement with the interspecific scaling of relative duty factor (DF, proportion of a stride period that a foot has ground contact) with body mass, bantams walked with greater DF than standards and females with greater DF than males. Greater DF in females than in males was achieved via variety-specific kinematic mechanisms, associated with the presence/absence of postural dimorphism. Females may require greater DF in order to reduce peak muscle forces and minimize power demands associated with lower muscle to reproductive tissue mass ratios and smaller body size. Furthermore, a more upright posture observed in the standard, but not bantam, females, may relate to minimizing the work demands of being larger and having proportionally larger reproductive volume. Lower DF in males relative to females may also be a work-minimizing strategy and/or due to greater limb inertia (due to greater pelvic limb muscle mass) prolonging the swing phase.

Sex differences in gait utilization and energy metabolism during terrestrial locomotion in two varieties of chicken (Gallus gallus domesticus) selected for different body size

In leghorn chickens (Gallus gallus domesticus) of standard breed (large) and bantam (small) varieties, artificial selection has led to females being permanently gravid and sexual selection has led to male-biased size dimorphism. Using respirometry, videography and morphological measurements, sex and variety differences in metabolic cost of locomotion, gait utilisation and maximum sustainable speed (Umax) were investigated during treadmill locomotion. Males were capable of greater Umax than females and used a grounded running gait at high speeds, which was only observed in a few bantam females and no standard breed females. Body mass accounted for variation in the incremental increase in metabolic power with speed between the varieties, but not the sexes. For the first time in an avian species, a greater mass-specific incremental cost of locomotion, and minimum measured cost of transport (CoTmin) were found in males than in females. Furthermore, in both varieties, the female CoTmin was lower than predicted from interspecific allometry. Even when compared at equivalent speeds (using Froude number), CoT decreased more rapidly in females than in males. These trends were common to both varieties despite a more upright limb in females than in males in the standard breed, and a lack of dimorphism in posture in the bantam variety. Females may possess compensatory adaptations for metabolic efficiency during gravidity (e.g. in muscle specialization/posture/kinematics). Furthermore, the elevated power at faster speeds in males may be linked to their muscle properties being suited to inter-male aggressive combat.

Spine buddy® supportive pad impact on single-leg static balance and a jogging gait of individuals wearing a military backpack

The Spine Buddy® supportive pad was developed to be inserted underneath military backpacks to help disperse the heavy load of the backpack. The purpose of this study was to determine the impact the additional supportive pad had on static balance and a running gait while wearing a military backpack. Forty healthy subjects (age= 27.5 + 5.6 yrs, body height= 1.78 + 0.06 m, body mass= 86.5 + 14.0 kg: mean + SD) participated in a static single-leg balance test on a force plate with each lower limb while wearing a 15.9 kg military backpack for 30 s. Following this, participants were randomized to one of two interventions: 1) Intervention, which wore the Spine Buddy® supportive pad underneath their backpack or 2) Control, with no additional supportive pad. Post-intervention measurements of static single-leg balance were then recorded. Afterwards, a similar pre vs post testing schedule and randomization scheme was used to test the impact of the supportive pad on a 5 mph jogging gait using Vicon® cameras. Within-group data were analyzed with a 2-way repeated measures ANOVA. Statistically significant differences were not seen between the control and experimental group for balance and gait variables. Preliminarily, this suggests that the Spine Buddy® supportive pad causes no deleterious effect on static balance and a jogging gait in 18-45 year-old asymptomatic individuals.

The energetic benefits of tendon springs in running: is the reduction of muscle work important?

The distal muscle-tendon units of cursorial species are commonly composed of short muscle fibres and long, compliant tendons. It is assumed that the ability of these tendons to store and return mechanical energy over the course of a stride, thus avoiding the cyclic absorption and regeneration of mechanical energy by active muscle, offers some metabolic energy savings during running. However, this assumption has not been tested directly. We used muscle ergometry and myothermic measurements to determine the cost of force production in muscles acting isometrically, as they could if mechanical energy was stored and returned by tendon, and undergoing active stretch-shorten cycles, as they would if mechanical energy was absorbed and regenerated by muscle. We found no detectable difference in the cost of force production in isometric cycles compared with stretch-shorten cycles. This result suggests that replacing muscle stretch-shorten work with tendon elastic energy storage and recovery does not reduce the cost of force production. This calls into question the assumption that reduction of muscle work drove the evolution of long distal tendons. We propose that the energetic benefits of tendons are derived primarily from their effect on muscle and limb architecture rather than their ability to reduce the cyclic work of muscle.

Limb bone morphology, bone strength, and cursoriality in lagomorphs

The primary aim of this study is to broadly evaluate the relationship between cursoriality (i.e. anatomical and physiological specialization for running) and limb bone morphology in lagomorphs. Relative to most previous studies of cursoriality, our focus on a size-restricted, taxonomically narrow group of mammals permits us to evaluate the degree to which 'cursorial specialization' affects locomotor anatomy independently of broader allometric and phylogenetic trends that might obscure such a relationship. We collected linear morphometrics and μCT data on 737 limb bones covering three lagomorph species that differ in degree of cursoriality: pikas (Ochotona princeps, non-cursorial), jackrabbits (Lepus californicus, highly cursorial), and rabbits (Sylvilagus bachmani, level of cursoriality intermediate between pikas and jackrabbits). We evaluated two hypotheses: cursoriality should be associated with (i) lower limb joint mechanical advantage (i.e. high 'displacement advantage', permitting more cursorial species to cycle their limbs more quickly) and (ii) longer, more gracile limb bones, particularly at the distal segments (as a means of decreasing rotational inertia). As predicted, highly cursorial jackrabbits are typically marked by the lowest mechanical advantage and the longest distal segments, non-cursorial pikas display the highest mechanical advantage and the shortest distal segments, and rabbits generally display intermediate values for these variables. Variation in long bone robusticity followed a proximodistal gradient. Whereas proximal limb bone robusticity declined with cursoriality, distal limb bone robusticity generally remained constant across the three species. The association between long, structurally gracile limb bones and decreased maximal bending strength suggests that the more cursorial lagomorphs compromise proximal limb bone integrity to improve locomotor economy. In contrast, the integrity of distal limb bones is maintained with increasing cursoriality, suggesting that the safety factor takes priority over locomotor economy in those regions of the postcranial skeleton that experience higher loading during locomotion. Overall, these findings support the hypothesis that cursoriality is associated with a common suite of morphological adaptations across a range of body sizes and radiations.

The elaborate plumage in peacocks is not such a drag

One of the classic examples of an exaggerated sexually selected trait is the elaborate plumage that forms the train in male peafowl Pavo cristatus (peacock). Such ornaments are thought to reduce locomotor performance as a result of their weight and aerodynamic drag, but this cost is unknown. Here, the effect that the train has on take-off flight in peacocks was quantified as the sum of the rates of change of the potential and kinetic energies of the body (PCoM) in birds with trains and following the train's removal. There was no significant difference between PCoM in birds with and without a train. The train incurs drag during take-off; however, while this produces a twofold increase in parasite drag, parasite power only accounts for 0.1% of the total aerodynamic power. The train represented 6.9% of body weight and is expected to increase induced power. The absence of a detectable effect on take-off performance does not necessarily mean that there is no cost associated with possessing such ornate plumage; rather, it suggests that given the variation in take-off performance per se, the magnitude of any effect of the train has little meaningful functional relevance.

The influence of load carrying on the energetics and kinematics of terrestrial locomotion in a diving bird

The application of artificial loads to mammals and birds has been used to provide insight into the mechanics and energetic cost of terrestrial locomotion. However, only two species of bird have previously been used in loading experiments, the cursorial guinea fowl (Numida meleagris) and the locomotor-generalist barnacle goose (Branta leucopsis). Here, using respirometry and treadmill locomotion, we investigate the energetic cost of carrying trunk loads in a diving bird, the tufted duck (Aythya fuligula). Attachment of back loads equivalent to 10% and 20% of body mass increased the metabolic rate during locomotion (7.94% and 15.92%, respectively) while sternal loads of 5% and 10% had a greater proportional effect than the back loads (metabolic rate increased by 7.19% and 13.99%, respectively). No effect on locomotor kinematics was detected during any load carrying experiments. These results concur with previous reports of load carrying economy in birds, in that there is a less than proportional relationship between increasing load and metabolic rate (found previously in guinea fowl), while application of sternal loads causes an approximate doubling of metabolic rate compared to back loads (reported in an earlier study of barnacle geese). The increase in cost when carrying sternal loads may result from having to move this extra mass dorso-ventrally during respiration. Disparity in load carrying economy between species may arise from anatomical and physiological adaptations to different forms of locomotion, such as the varying uncinate process morphology and hindlimb tendon development in goose, guinea fowl and duck.

Modelling biomechanical requirements of a rider for different horse-riding techniques at trot

The simplest model possible for bouncing systems consists of a point mass bouncing passively on a mass-less spring without viscous losses. This type of spring–mass model has been used to describe the stance period of symmetric running gaits. In this study, we investigated the interaction between horse and rider at trot using three models of force-driven spring (–damper)–mass systems. The first system consisted of a spring and a mass representing the horse that interact with another spring and mass representing the rider. In the second spring–damper–mass model, dampers, a free-fall and a forcing function for the rider were incorporated. In the third spring–damper–mass model, an active spring system for the leg of the rider was introduced with a variable spring stiffness and resting length in addition to a saddle spring with fixed material properties. The output of the models was compared with experimental data of sitting and rising trot and with the modern riding technique used by jockeys in racing. The models show which combinations of rider mass, spring stiffness and damping coefficient will result in a particular riding technique or other behaviours. Minimization of the peak force of the rider and the work of the horse resulted in an ‘extreme’ modern jockey technique. The incorporation of an active spring system for the leg of the rider was needed to simulate rising trot. Thus, the models provide insight into the biomechanical requirements a rider has to comply with to respond effectively to the movements of a horse.

Humans, geometric similarity and the Froude number: is ''reasonably close'' really close enough?

Understanding locomotor energetics is imperative, because energy expended during locomotion, a requisite feature of primate subsistence, is lost to reproduction. Although metabolic energy expenditure can only be measured in extant species, using the equations of motion to calculate mechanical energy expenditure offers unlimited opportunities to explore energy expenditure, particularly in extinct species on which empirical experimentation is impossible. Variability, either within or between groups, can manifest as changes in size and/or shape. Isometric scaling (or geometric similarity) requires that all dimensions change equally among all individuals, a condition that will not be met in naturally developing populations. The Froude number (Fr), with lower limb (or hindlimb) length as the characteristic length, has been used to compensate for differences in size, but does not account for differences in shape.To determine whether or not shape matters at the intraspecific level, we used a mechanical model that had properties that mimic human variation in shape. We varied crural index and limb segment circumferences (and consequently, mass and inertial parameters) among nine populations that included 19 individuals that were of different size. Our goal in the current work is to understand whether shape variation changes mechanical energy sufficiently enough to make shape a critical factor in mechanical and metabolic energy assessments.Our results reaffirm that size does not affect mass-specific mechanical cost of transport (Alexander and Jayes, 1983) among geometrically similar individuals walking at equal Fr. The known shape differences among modern humans, however, produce sufficiently large differences in internal and external work to account for much of the observed variation in metabolic energy expenditure, if mechanical energy is correlated with metabolic energy. Any species or other group that exhibits shape differences should be affected similarly to that which we establish for humans. Unfortunately, we currently do not have a simple method to control or adjust for size-shape differences in individuals that are not geometrically similar, although musculoskeletal modeling is a viable, and promising, alternative. In mouse-to-elephant comparisons, size differences could represent the largest source of morphological variation, and isometric scaling factors such as Fr can compensate for much of the variability. Within species, however, shape differences may dominate morphological variation and Fr is not designed to compensate for shape differences. In other words, those shape differences that are "reasonably close" at the mouse-to-elephant level may become grossly different for within-species energetic comparisons.

Energetics, Locomotion, and Female Reproduction: Implications for Human Evolution

In our reconstructions of human evolution, a few key questions consistently rise to the surface. These questions tend to revolve around how the morphology of previous hominin species would have allowed them to gain access to resources during key life-history events, particularly gestation and lactation. Here the data surrounding the interactions between these key issues are assessed, making particular notes of recent advances in the fields of energetics and biomechanics as they relate to locomotion during reproduction. Reconstructions of body mass, lower limb length, and pelvic breadth suggest diverse mobility strategies for different hominin species and may offer some clues about the demographic shifts occurring in the late Pleistocene.

Size and Shape: Morphology's Impact on Human Speed and Mobility

While human sexual dimorphism is generally expected to be the result of differential reproductive strategies, it has the potential to create differences in the energetics of locomotion and the speed at which each morph travels, particularly since people have been shown to choose walking speeds around their metabolic optimum. Here, people of varying sizes walked around a track at four self-selected speeds while their metabolic rate was collected, in order to test whether the size variation within a population could significantly affect the shape of the optimal walking curve. The data show that larger people have significantly faster optimal walking speeds, higher costs at their optimal speed, and a more acute optimal walking curve (thus an increased penalty for walking at suboptimal speeds). Bigger people who also have wider bitrochanteric breadths have lower metabolic costs at their minimum than bigger people with a more narrow bitrochanteric breadth. Finally, tibia length significantly positively predicts optimal walking speed. These results suggest sex-specific walking groups typical of living human populations may be the result of energy maximizing strategies. In addition, testable hypotheses of group strategies are put forth.

The energetics of running stability: costs of transport in grass-cutting ants depend on fragment shape

Grass-cutting ants (Atta vollenweideri) carry fragments that can be many times heavier and longer than the ants themselves and it is important for them to avoid falling over during load transport. To investigate whether the energetic costs of transport are affected by the need to maintain stability, the rate of CO(2) production was measured in both unladen workers and workers carrying standardized paper fragments of different size and shape. We tested: (1) the effect of mass by comparing workers carrying either light or heavy fragments of the same size, and (2) the effect of shape by comparing short and long fragments of the same mass. Consistent with previous studies, metabolic rate increased but running speed remained constant when ants carried heavier fragments. The net cost of transport (normalized to the total mass of ant and fragment) was the same for heavy and light fragments, and did not differ from the costs of carrying a unit body mass. Ants carrying long fragments showed similar metabolic rates but ran significantly slower than ants carrying short fragments. As a consequence, net cost of transport was significantly higher for long fragments than for short ones, and higher than the costs of carrying a unit body mass. The observed reduction in running speed is likely a result of the ants' need to maintain stability. When the absolute costs of transport were compared, smaller ants required more energy to carry heavier and longer fragments than larger workers, but the opposite was found for lighter and shorter fragments. The absolute costs of transport per unit fragment mass suggest that it is energetically advantageous for a colony to allocate smaller workers for the transport of small fragments and larger workers for large fragments. The present results underline the importance of biomechanical factors for the understanding of leaf-cutting ant foraging strategies.

Understanding sex differences in the cost of terrestrial locomotion

Little is known regarding the physiological consequences of the behavioural and morphological differences that result from sexual selection in birds. Male and female Svalbard rock ptarmigans (Lagopus muta hyperborea) exhibit distinctive behavioural differences during the breeding season. In particular, males continuously compete for and defend territories in order to breed successfully, placing large demands on their locomotor system. Here, we demonstrate that male birds have improved locomotor performance compared with females, showing both a lower cost of locomotion (CoL) and a higher top speed. We propose that the observed sex differences in locomotor capability may be due to sexual selection for improved male performance. While the mechanisms underlying these energetic differences are unclear, future studies should be wary when pooling male and female data.

Limitations imposed by wearing armour on Medieval soldiers' locomotor performance

In Medieval Europe, soldiers wore steel plate armour for protection during warfare. Armour design reflected a trade-off between protection and mobility it offered the wearer. By the fifteenth century, a typical suit of field armour weighed between 30 and 50 kg and was distributed over the entire body. How much wearing armour affected Medieval soldiers' locomotor energetics and biomechanics is unknown. We investigated the mechanics and the energetic cost of locomotion in armour, and determined the effects on physical performance. We found that the net cost of locomotion (C(met)) during armoured walking and running is much more energetically expensive than unloaded locomotion. C(met) for locomotion in armour was 2.1-2.3 times higher for walking, and 1.9 times higher for running when compared with C(met) for unloaded locomotion at the same speed. An important component of the increased energy use results from the extra force that must be generated to support the additional mass. However, the energetic cost of locomotion in armour was also much higher than equivalent trunk loading. This additional cost is mostly explained by the increased energy required to swing the limbs and impaired breathing. Our findings can predict age-associated decline in Medieval soldiers' physical performance, and have potential implications in understanding the outcomes of past European military battles.

Understanding muscle energetics in locomotion: new modeling and experimental approaches

Recent estimates of muscle energy consumption during locomotion, based on computational models and muscle blood flow measurements, demonstrate complex patterns of energy use across the gait cycle, which are further complicated when task demands change. A deeper understanding of muscle energetics in locomotion will benefit from efforts to more tightly integrate muscle-specific approaches with organismal measurements.

Functional and architectural complexity within and between muscles: regional variation and intermuscular force transmission

Over the past 30 years, studies of single muscles have revealed complex patterns of regional variation in muscle architecture, activation, strain and force. In addition, muscles are often functionally integrated with other muscles in parallel or in series. Understanding the extent of this complexity and the interactions between muscles will profoundly influence how we think of muscles in relation to organismal function, and will allow us to address questions regarding the functional benefits (or lack thereof) and dynamics of this complexity under in vivo conditions. This paper has two main objectives. First, we present a cohesive and integrative review of regional variation in function within muscles, and discuss the functional ramifications that can stem from this variation. This involves splitting regional variation into passive and active components. Second, we assess the functional integration of muscles between different limb segments by presenting new data involving in vivo measurements of activation and strain from the medial gastrocnemius, iliotibialis cranialis and iliotibialis lateralis pars preacetabularis of the helmeted guinea fowl (Numida meleagris) during level running on a motorized treadmill. Future research directions for both of these objectives are presented.

The Extra Load Index as a method for comparing the relative economy of load carriage systems

The Extra Load Index (ELI) has been proposed as a suitable method of assessing the relative economy of load carriage systems. The purpose of this study was to determine, based on empirical evidence, that the ELI can accommodate variations in both body composition and added load. In total, 30 women walked carrying loads of up to 70% body mass at self-selected walking speeds whilst expired air was collected. In addition, each of the women had body composition assessed via dual energy X-ray absorptiometry. Results show that the ELI is independent of body composition variables, the magnitude of additional loads and the speed of progression. Consequently, it is suggested that it represents an appropriate method of comparing load carriage systems in both scientific and commercial arenas. STATEMENT OF RELEVANCE: This paper demonstrates that ELI is independent of body composition, added load and speed and is therefore an appropriate method to generalise comparisons of load carriage systems. It has the advantage of being easily understood by manufacturers and consumers whilst retaining appropriate scientific precision.

Reduced metabolic cost of locomotion in Svalbard rock ptarmigan (Lagopus muta hyperborea) during winter

The Svalbard rock ptarmigan, Lagopus muta hyperborea experiences extreme photoperiodic and climatic conditions on the Arctic archipelago of Svalbard. This species, however, is highly adapted to live in this harsh environment. One of the most striking adaptations found in these birds is the deposition, prior to onset of winter, of fat stores which may comprise up to 32% of body mass and are located primarily around the sternum and abdominal region. This fat, while crucial to the birds' survival, also presents a challenge in that the bird must maintain normal physiological function with this additional mass. In particular these stores are likely to constrain the respiratory system, as the sternum and pelvic region must be moved during ventilation and carrying this extra load may also impact upon the energetic cost of locomotion. Here we demonstrate that winter birds have a reduced cost of locomotion when compared to summer birds. A remarkable finding given that during winter these birds have almost twice the body mass of those in summer. These results suggest that Svalbard ptarmigan are able to carry the additional winter fat without incurring any energetic cost. As energy conservation is paramount to these birds, minimising the costs of moving around when resources are limited would appear to be a key adaptation crucial for their survival in the barren Arctic environment.

Load carrying during locomotion in the barnacle goose (Branta leucopsis): the effect of load placement and size

Load carrying has been used to study the energetics and mechanics of locomotion in a range of taxa. Here we investigated the energetic and kinematic effects of trunk and limb loading in walking barnacle geese (Branta leucopsis). A directly proportional relationship between increasing back-load mass and metabolic rate was established, indicating that the barnacle goose can carry back loads (up to 20% of body mass) more economically than the majority of mammals. The increased cost of supporting and propelling the body during locomotion is likely to account for a major proportion of the extra metabolic cost. Sternal loads up to 15% of body mass were approximately twice as expensive to carry as back loads. Given the key role in dorso-ventral movement of the sternum during respiration we suggest that moving this extra mass may account for the elevated metabolic rate. Loading the distal limb with 5% extra mass incurred the greatest proportional rise in metabolism, and also caused increases in stride length, swing duration and stride frequency during locomotion. The increased work required to move the loaded limb may explain the high cost of walking.

The effects of lactation and infant care on adult energy budgets in wild siamangs (Symphalangus syndactylus)

In mammals with biparental care of offspring, males and females may bear substantial energetic costs of reproduction. Adult strategies to reduce energetic stress include changes in activity patterns, reduced basal metabolic rates, and storage of energy prior to a reproductive attempt. I quantified patterns of behavior in five groups of wild siamangs (Symphalangus syndactylus) to detect periods of high energetic investment by adults and to examine the relationships between infant care and adult activity patterns. For females, the estimated costs of lactation peaked at around infant age 4-6 months and were low by infant age 1 year, whereas the estimated costs of infant-carrying peaked between ages 7 and 12 months, and approached zero by age 16 months. There was a transition from primarily female to male care in the second year of life in some groups. Females spent significantly less time feeding during lactation than during the later stages of infant care, suggesting that female siamangs do not use increased food intake to offset the costs of lactation. Female feeding time was highest between infant ages 16 and 21 months, a period of relatively low female investment in the current offspring that coincided with the period of highest male investment in infant care. This suggests that male care may reduce the costs of infant care for females in the later stages of a reproductive attempt. The female energy gain resulting from male care was likely invested in somatic maintenance and future reproduction, rather than the current offspring.

Running for your life or running for your dinner: what drives fiber-type evolution in lizard locomotor muscles?

Despite its role in whole-animal performance, the adaptation of muscle physiology related to terrestrial locomotion remains underexplored. We tested evolutionary models based on predator escape and foraging strategies of lizards to assess whether fiber-type composition of a leg muscle is adaptive for behavior. The best-fitting model for fast-twitch fiber-type evolution was one based on predator-escape strategy, while the foraging-mode model fared poorly (Akaike Information Criterion with small sample size correction; DeltaAICc=29.7). According to the predator-escape model, lizards relying on sprints to avoid predators are predicted to have relatively higher proportions of fast glycolytic (FG) fibers (70%), while cryptic lizards are predicted to have relatively higher fast oxidative glycolytic (FOG) fiber proportions (77%). This pattern suggests an evolutionary trend toward greater FG (FOG) fiber composition among lizards that specialize in sprinting (crypsis). The best-fitting model for slow-twitch fibers had a single optimum, suggesting a common selective pressure across these lizards. The second-best model explaining slow-twitch fiber-type evolution was Brownian motion (DeltaAICc=0.80), indicating some support for neutral evolution. We find evidence suggesting that different fiber types occurring in the same muscle can evolve under different evolutionary pressures.

Mechanical efficiency of limb swing during walking and running in guinea fowl (Numida meleagris)

Understanding the mechanical determinants of the energy cost of limb swing is crucial for refining our models of locomotor energetics, as well as improving treatments for those suffering from impaired limb-swing mechanics. In this study, we use guinea fowl (Numida meleagris) as a model to explore whether mechanical work at the joints explains limb-swing energy use by combining inverse dynamic modeling and muscle-specific energetics from blood flow measurements. We found that the overall efficiencies of the limb swing increased markedly from walking (3%) to fast running (17%) and are well below the usually accepted maximum efficiency of muscle, except at the fastest speeds recorded. The estimated efficiency of a single muscle used during ankle flexion (tibialis cranialis) parallels that of the total limb-swing efficiency (3% walking, 15% fast running). Taken together, these findings do not support the hypothesis that joint work is the major determinant of limb-swing energy use across the animal's speed range and warn against making simple predictions of energy use based on joint mechanical work. To understand limb-swing energy use, mechanical functions other than accelerating the limb segments need to be explored, including isometric force production and muscle work arising from active and passive antagonist muscle forces.

The evolutionary continuum of limb function from early theropods to birds

The bipedal stance and gait of theropod dinosaurs evolved gradually along the lineage leading to birds and at some point(s), flight evolved. How and when did these changes occur? We review the evidence from neontology and paleontology, including pectoral and pelvic limb functional morphology, fossil footprints/trackways and biomechanical models and simulations. We emphasise that many false dichotomies or categories have been applied to theropod form and function, and sometimes, these impede research progress. For example, dichotomisation of locomotor function into 'non-avian' and 'avian' modes is only a conceptual crutch; the evidence supports a continuous transition. Simplification of pelvic limb function into cursorial/non-cursorial morphologies or flexed/columnar poses has outlived its utility. For the pectoral limbs, even the classic predatory strike vs. flight wing-stroke distinction and separation of theropods into non-flying and flying--or terrestrial and arboreal--categories may be missing important subtleties. Distinguishing locomotor function between taxa, even with quantitative approaches, will always be fraught with ambiguity, making it difficult to find real differences if that ambiguity is properly acknowledged. There must be an 'interpretive asymptote' for reconstructing dinosaur limb function that available methods and evidence cannot overcome. We may be close to that limit, but how far can it be stretched with improved methods and evidence, if at all? The way forward is a combination of techniques that emphasises integration of neontological and paleontological evidence and quantitative assessment of limb function cautiously applied with validated techniques and sensitivity analysis of unknown variables.

The energetic costs of load-carrying and the evolution of bipedalism

The evolution of habitual bipedalism is still a fundamental yet unsolved question for paleoanthropologists, and carrying is popular as an explanation for both the early adoption of upright walking and as a positive selection pressure once a terrestrial lifestyle had been adopted. However, to support or reject any hypothesis that suggests carrying efficiency was an important selective pressure, we need quantitative data on the costs of different forms of carrying behavior, especially infant-carrying since reduction in the grasping capabilities of the foot would have prevented infants from clinging on for long durations. In this study, we tested the hypothesis that the mode of load carriage influences the energetic cost of locomotion. Oxygen consumption was measured in seven female participants walking at a constant speed while carrying four different 10-kg loads (a weighted vest, 5-kg dumbbells carried in each hand, a mannequin infant carried on one hip, and a 10-kg dumbbell carried in a single hand). Oxygen consumption was also measured during unloaded standing and unloaded walking. The results show that the weighted vest requires the least amount of energy of the four types of carrying and that, for this condition, humans are as efficient as mammals in general. The balanced load was carried with approximately the predicted energy cost. However, the asymmetrical conditions were considerably less efficient, indicating that, unless infant-carrying was the adaptive response to a strong environmental selection pressure, this behavior is unlikely to have been the precursor to the evolution of bipedalism.

Effects of load carrying on metabolic cost and hindlimb muscle dynamics in guinea fowl (Numida meleagris)

The goal of this study was to test whether the contractile patterns of two major hindlimb extensors of guinea fowl are altered by load-carrying exercise. We hypothesized that changes in contractile pattern, specifically a decrease in muscle shortening velocity or enhanced stretch activation, would result in a reduction in locomotor energy cost relative to the load carried. We also anticipated that changes in kinematics would reflect underlying changes in muscle strain. Oxygen consumption, muscle activation intensity, and fascicle strain rate were measured over a range of speeds while animals ran unloaded vs. when they carried a trunk load equal to 22% of their body mass. Our results showed that loading produced no significant (P > 0.05) changes in kinematic patterns at any speed. In vivo muscle contractile strain patterns in the iliotibialis lateralis pars postacetabularis and the medial head of the gastrocnemius showed a significant increase in active stretch early in stance (P < 0.01), but muscle fascicle shortening velocity was not significantly affected by load carrying. The rate of oxygen consumption increased by 17% (P < 0.01) during loaded conditions, equivalent to 77% of the relative increase in mass. Additionally, relative increases in EMG intensity (quantified as mean spike amplitude) indicated less than proportional recruitment, consistent with force enhancement via stretch activation, in the proximal iliotibialis lateralis pars postacetabularis; however, a greater than proportional increase in the medial gastrocnemius was observed. As a result, when averaged for the two muscles, EMG intensity increased in direct proportion to the fractional increase in load carried.