The crouching of the shrew: Mechanical consequences of limb posture in small mammals

How Pendular Is Human Brachiation? When Form Does Not Follow Function

Brachiation is a form of suspensory locomotion observed only in Primates. The non-human hominoids (e.g., gibbons, orangutans, chimpanzees, and gorillas) are considered specialized brachiators, yet peculiar among the living apes are anatomically modern humans (Homo sapiens), who have forgone this locomotor mode in favor of bipedal striding. Humans can, however, brachiate and seem to have retained the locomotor capabilities of their arboreal ancestors. However, the mechanics of human brachiation have not been quantified. In this study, we evaluate how closely human brachiation conforms to the expectations of simple pendular motion using triaxial accelerometry and high-speed videography. These data are compared to specialized brachiating non-human primates. We found that humans have lower energy recovery than siamangs (Symphalangus syndactylus) during brachiation and have shorter observed pendular periods than expected compared to other primates. We demonstrate that relatively long forelimb length and high grip forces, a proxy for global forelimb force-generating potential, act as the main driving factors to reduce energetic costs through effective pendular recovery. These data are the first to assess the strategies humans adopt to perform a behavior they are not anatomically specialized to execute and places them within a comparative framework amongst other brachiating primates. We show that although humans demonstrate behavioral flexibility during brachiation (e.g., differing mediolateral and vertical center of mass positional movement patterns), anatomical features are the primary driver of variation in brachiation performance.

A therian mammal with sprawling kinematics? Gait and 3D forelimb X-ray motion analysis in tamanduas

Therian mammals are known to move their forelimbs in a parasagittal plane, retracting the mobilised scapula during stance phase. Non-cursorial therian mammals often abduct the elbow out of the shoulder-hip parasagittal plane. This is especially prominent in Tamandua (Xenarthra), which suggests they employ aspects of sprawling (e.g., lizard-like-) locomotion. Here, we test if tamanduas use sprawling forelimb kinematics, i.e., a largely immobile scapula with pronounced lateral spine bending and long-axis rotation of the humerus. We analyse high speed videos and use X-ray motion analysis of tamanduas walking and balancing on branches of varying inclinations and provide a quantitative characterization of gaits and forelimb kinematics. Tamanduas displayed lateral sequence lateral-couplets gaits on flat ground and horizontal branches, but increased diagonality on steeper in- and declines, resulting in lateral sequence diagonal-couplets gaits. This result provides further evidence for high diagonality in arboreal species, likely maximising stability in arboreal environments. Further, the results reveal a mosaic of sprawling and parasagittal kinematic characteristics. The abducted elbow results from a constantly internally rotated scapula about its long axis and a retracted humerus. Scapula retraction contributes considerably to stride length. However, lateral rotation in the pectoral region of the spine (range: 21°) is higher than reported for other therian mammals. Instead, it is similar to skinks and alligators, indicating an aspect generally associated with sprawling locomotion is characteristic for forelimb kinematics of tamanduas. Our study contributes to a growing body of evidence of highly variable non-cursorial therian mammal locomotor kinematics.

Modeling Sprawling Locomotion of the Stem Amniote Orobates: An Examination of Hindlimb Muscle Strains and Validation Using Extant Caiman

The stem amniote Orobates pabsti has been reconstructed to be capable of relatively erect, balanced, and mechanically power-saving terrestrial locomotion. This suggested that the evolution of such advanced locomotor capabilities preceded the origin of crown-group amniotes. We here further investigate plausible body postures and locomotion of Orobates by taking soft tissues into account. Freely available animation software BLENDER is used to first reconstruct the lines of action of hindlimb adductors and retractors for Orobates and then estimate the muscle strain of these muscles. We experimentally varied different body heights in modeled hindlimb stride cycles of Orobates to find the posture that maximizes optimal strains over the course of a stride cycle. To validate our method, we used Caiman crocodilus. We replicated the identical workflow used for the analysis of Orobates and compared the locomotor posture predicted for Caiman based on muscle strain analysis with this species’ actual postural data known from a previously published X-ray motion analysis. Since this validation experiment demonstrated a close match between the modeled posture that maximizes optimal adductor and retractor muscle strain and the in vivo posture employed by Caiman, using the same method for Orobates was justified. Generally, the use of muscle strain analysis for the reconstruction of posture in quadrupedal vertebrate fossils thus appears a promising approach. Nevertheless, results for Orobates remained inconclusive as several postures resulted in similar muscle strains and none of the postures could be entirely excluded. These results are not in conflict with the previously inferred moderately erect locomotor posture of Orobates and suggest considerable variability of posture during locomotion.

Pectoral girdle and forelimb musculoskeletal function in the echidna (Tachyglossus aculeatus): insights into mammalian locomotor evolution

Although evolutionary transformation of the pectoral girdle and forelimb appears to have had a profound impact on mammalian locomotor and ecological diversity, both the sequence of anatomical changes and the functional implications remain unclear. Monotremes can provide insight into an important stage of this evolutionary transformation, due to their phylogenetic position as the sister-group to therian mammals and their mosaic of plesiomorphic and derived features. Here we build a musculoskeletal computer model of the echidna pectoral girdle and forelimb to estimate joint ranges of motion (ROM) and muscle moment arms (MMA)-two fundamental descriptors of biomechanical function. We find that the echidna's skeletal morphology restricts scapulocoracoid mobility and glenohumeral flexion-extension compared with therians. Estimated shoulder ROMs and MMAs for muscles crossing the shoulder indicate that morphology of the echidna pectoral girdle and forelimb is optimized for humeral adduction and internal rotation, consistent with limited in vivo data. Further, more muscles act to produce humeral long-axis rotation in the echidna compared to therians, as a consequence of differences in muscle geometry. Our musculoskeletal model allows correlation of anatomy and function, and can guide hypotheses regarding function in extinct taxa and the morphological and locomotor transformation leading to therian mammals.

Fitting unanchored puzzle pieces in the skeleton: appropriate 3D scapular positions for the quadrupedal support in tetrapods

Deducing the scapular positions of extinct tetrapod skeletons remains difficult, because the scapulae and rib cage are connected with each other not directly by skeletal joint, but by thoracic muscles. In extant non-testudine quadrupedal tetrapods, the top positions of the scapulae/suprascapulae occur at the anterior portion of the rib cage, above the vertebral column and near the median plane. The adequacy of this position was tested using three-dimensional mechanical models of Felis, Rattus and Chamaeleo that assumed stances on a forelimb on a single side and the hindlimbs. The net moment about the acetabulum generated by the gravity force and the contractive forces of the anti-gravity thoracic muscles, and the resistance of the rib to vertical compression between the downward gravity and upward lifting force from the anti-gravity thoracic muscle depend on the scapular position. The scapular position common among quadrupeds corresponds to the place at which the roll and yaw moments of the uplifted portion of the body are negligible, where the pitch moment is large enough to lift the body, and above the ribs having high strength against vertical compression. These relationships between scapular position and rib cage morphology should allow reliable reconstruction of limb postures of extinct taxa.