Foot pressure distribution in White Rhinoceroses (Ceratotherium simum) during walking

Comparative study of the body proportions in Elephantidae and other large herbivorous mammals

In this study, we aimed to achieve three objectives: (1) to precisely characterize the body plans of Elephantidae and other large herbivorous mammals; (2) based on this analysis, to determine whether the body plans of the extinct woolly mammoth (Mammuthus primigenius) and steppe mammoth (M. trogontherii) differ from those of modern-day Elephantidae: the Asian elephant (Elephas maximus), the African bush (Loxodonta africana), and forest (L. cyclotis) elephants; (3) to analyze how the body plans have changed in extant perissodactyls and proboscideans compared with their Paleogene ancestors. To accomplish this, we studied mammoth skeletons from the collections of Russian museums and compared this data with a large number of skeletons of extant elephantids, odd-toed, and even-toed ungulates, as well as their extinct relatives. We showed that three genera of Elephantidae are characterized by a homogeneous body plan, which is markedly different from other large herbivores. Elephantids break the interrelationship, that exists in artiodactyls and perissodactyls, between the total length of the head and neck on one side and the limb's segments on the other. Their limbs are very tall (inferior in this regard among large ungulates only to the giraffe), and, contrary to the other large herbivorous mammals, elongated due to the length of the proximal segments. This allows them to effectively utilize the principle of inverted pendulum (straight-legged walking) in locomotion. The biggest differences in the body plan of mammoths compared with extant elephants are a markedly larger pelvis, elongated fore- and hindlimbs (due to the increased relative length of their proximal segments), and different proportions of the skull. The body plans of plesiomorphic Paleogene proboscideans and perissodactyls differed markedly from their descendants in every body part; these differences are related, on the one hand, to the allometric growth, and on the other hand, to the advancement of the locomotor apparatus in the course of their evolution. The most notable difference in the body plan between Paleogene proboscidean Moeritherium and extant Elephantidae is the ~2-fold increase in relative limb height.

Estimation of the forces exerted on the limb long bones of a white rhinoceros (Ceratotherium simum) using musculoskeletal modelling and simulation

Heavy animals incur large forces on their limb bones, due to the transmission of body weight and ground reaction forces, and the contractions of the various muscles of the limbs. This is particularly true for rhinoceroses, the heaviest extant animals capable of galloping. Several studies have examined their musculoskeletal system and the forces their bones incur, but no detailed quantification has ever been attempted. Such quantification could help understand better the link between form and function in giant land animals. Here we constructed three-dimensional musculoskeletal models of the forelimb and hindlimb of Ceratotherium simum, the heaviest extant rhino species, and used static optimisation (inverse) simulations to estimate the forces applied on the bones when standing at rest, including magnitudes and directions. Overall, unsurprisingly, the most active muscles were antigravity muscles, which generate moments opposing body weight (thereby incurring the ground reaction force), and thus keep the joints extended, avoiding joint collapse via flexion. Some muscles have an antigravity action around several joints, and thus were found to be highly active, likely specialised in body weight support (ulnaris lateralis; digital flexors). The humerus was subjected to the greatest amount of forces in terms of total magnitude; forces on the humerus furthermore came from a great variety of directions. The radius was mainly subject to high-magnitude compressive joint reaction forces, but to little muscular tension, whereas the opposite pattern was observed for the ulna. The femur had a pattern similar to that of the humerus, and the tibia's pattern was intermediate, being subject to great compression in its caudal side but to great tension in its cranial side (i.e. bending). The fibula was subject to by far the lowest force magnitude. Overall, the forces estimated were consistent with the documented morphofunctional adaptations of C. simum's long bones, which have larger insertion areas for several muscles and a greater robusticity overall than those of lighter rhinos, likely reflecting the intense forces we estimated here. Our estimates of muscle and bone (joint) loading regimes for this giant tetrapod improve the understanding of the links between form and function in supportive tissues and could be extended to other aspects of bone morphology, such as microanatomy.

Footfall patterns and stride parameters of Common hippopotamus (Hippopotamus amphibius) on land

Common hippopotamuses (hippos) are among the largest extant land mammals. They thus offer potential further insight into how giant body size on land influences locomotor patterns and abilities. Furthermore, as they have semi-aquatic habits and unusual morphology, they prompt important questions about how locomotion evolved in Hippopotamidae. However, basic information about how hippos move is limited and sometimes contradictory. We aimed to test if hippos trot at all speeds and if they ever use an aerial (suspended) phase, and to quantify how their locomotor patterns (footfalls and stride parameters) change with approximate speed. We surveyed videos available online and collected new video data from two zoo hippos in order to calculate the data needed to achieve our aims; gathering a sample of 169 strides from 32 hippos. No hippos studied used other than trotting (or near-trotting) footfall patterns, but at the fastest relative speeds hippos used brief aerial phases, apparently a new discovery. Hippos exhibit relatively greater athletic capacity than elephants in several ways, but perhaps not greater than rhinoceroses. Our data help form a baseline for assessing if other hippos use normal locomotion; relevant to clinical veterinary assessments of lameness; and for reconstructing the evolutionary biomechanics of hippo lineages.

CT based 3D reconstruction of the forefoot's blood supply in a white rhinoceros

BACKGROUND

The white rhinoceros (Ceratotherium simum) is close to extinction, listed as "Near Threatened", with a decreasing population on the Red List of Threatened Species of the International Union for Conservation of Nature. In at least 50% of the specimens in captivity, podiatric diseases, such as osteitis, osteomyelitis, chip fractures, enthesophytes, fractures and osteoarthritis were found during necropsy. These osteal deformations cause further pathogenic alterations in the soft tissues, particularly in the digital cushion. The literature provides good description of the skeleton of the rhino's limbs, but similar for the vascular system is non-existent. In order to recognize the symptoms in an early state and for a successful surgical treatment, precise knowledge of the vascular anatomy is essential. The purpose of our study was to provide detailed anatomical description of the blood supply of the digits and that of the digital cushion.

RESULTS

The blood supply of the distal foot, digits and digital cushions were perfectly visible on the reconstructed and coloured 3D models. The deep palmar arch provided not only the blood supply to the digits but had a palmaro-distal running branch which developed a trifurcation proximal to the proximal sesamoid bones of the third digit. Two of its branches participated in the blood supply of the digits' proximal palmar surface, while the major branch supplied the digital cushion from proximal direction.

CONCLUSIONS

Our findings show a unique blood supply: the main vessels of the digital cushion stem both directly from the deep palmar arch and from the digits' own arteries. The detailed description of vessels may be useful in planning surgery of the region and also in cases where the veins of the ear are not accessible.

Basal sauropodomorph locomotion: ichnological lessons from the Late Triassic trackways of bipeds and quadrupeds (Elliot Formation, main Karoo Basin)

Using modern ichnological and stratigraphic tools, we reinvestigate two iconic sauropodomorph-attributed tetradactyl ichnogenera, Pseudotetrasauropus and Tetrasauropus, and their stratigraphic occurrences in the middle Upper Triassic of Lesotho. These tracks have been reaffirmed and are stratigraphically well-constrained to the lower Elliot Formation (Stormberg Group, Karoo Basin) with a maximum depositional age range of <219-209 Ma (Norian). This represents the earliest record of basal sauropodomorph trackways in Gondwana, if not globally. Track and trackway morphology, the sedimentary context of the tracks, and unique features (e.g., drag traces) have enabled us to discuss the likely limb postures and gaits of the trackmakers. Pseudotetrasauropus has bipedal (P. bipedoida) and quadrupedal (P. jaquesi) trackway states, with the oldest quadrupedal Pseudotetrasauropus track and trackway parameters suggestive of a columnar, graviportal limb posture in the trackmaker. Moreover, an irregularity in the intermanus distance and manus orientation and morphology, in combination with drag traces, is indicative of a non-uniform locomotory suite or facultative quadrupedality. Contrastingly, Tetrasauropus, the youngest trackway, has distinctive medially deflected, robust pedal and manual claw traces and a wide and uniform intermanus distance relative to the interpedal. These traits suggest a quadrupedal trackmaker with clawed and fleshy feet and forelimbs held in a wide, flexed posture. Altogether, these trackways pinpoint the start of the southern African ichnological record of basal sauropodomorphs with bipedal and quadrupedal locomotory habits to, at least, c. 215 Ma in the middle Late Triassic.

Softening the steps to gigantism in sauropod dinosaurs through the evolution of a pedal pad

How sauropod dinosaurs were able to withstand the forces associated with their immense size represents one of the most challenging biomechanical scenarios in the evolution of terrestrial tetrapods, but also one lacking robust biomechanical testing. Here, we use finite element analyses to quantify the biomechanical effects of foot skeletal postures with and without the presence of a soft tissue pad in sauropodomorphs. We find that none of the models can maintain bone stresses that fall within optimal bone safety factors in the absence of a soft tissue pad. Our findings suggest that a soft tissue pad in sauropods would have reduced bone stresses by combining the mechanical advantages of a functionally plantigrade foot with the plesiomorphic skeletally digitigrade saurischian condition. The acquisition of a developed soft tissue pad by the Late Triassic-Early Jurassic may represent one of the key adaptations for the evolution of gigantism that has become emblematic of these dinosaurs.

Does the Heel’s Dissipative Energetic Behavior Affect Its Thermodynamic Responses During Walking?

Most of the terrestrial legged locomotion gaits, like human walking, necessitate energy dissipation upon ground collision. In humans, the heel mostly performs net-negative work during collisions, and it is currently unclear how it dissipates that energy. Based on the laws of thermodynamics, one possibility is that the net-negative collision work may be dissipated as heat. If supported, such a finding would inform the thermoregulation capacity of human feet, which may have implications for understanding foot complications and tissue damage. Here, we examined the correlation between energy dissipation and thermal responses by experimentally increasing the heel’s collisional forces. Twenty healthy young adults walked overground on force plates and for 10 min on a treadmill (both at 1.25 ms−1) while wearing a vest with three different levels of added mass (+0%, +15%, &amp; +30% of their body mass). We estimated the heel’s work using a unified deformable segment analysis during overground walking. We measured the heel’s temperature immediately before and after each treadmill trial. We hypothesized that the heel’s temperature and net-negative work would increase when walking with added mass, and the temperature change is correlated with the increased net-negative work. We found that walking with +30% added mass significantly increased the heel’s temperature change by 0.72 ± 1.91 ℃ (p = 0.009) and the magnitude of net-negative work (extrapolated to 10 min of walking) by 326.94 ± 379.92 J (p = 0.005). However, we found no correlation between the heel’s net-negative work and temperature changes (p = 0.277). While this result refuted our second hypothesis, our findings likely demonstrate the heel’s dynamic thermoregulatory capacity. If all the negative work were dissipated as heat, we would expect excessive skin temperature elevation during prolonged walking, which may cause skin complications. Therefore, our results likely indicate that various heat dissipation mechanisms control the heel’s thermodynamic responses, which may protect the health and integrity of the surrounding tissue. Also, our results indicate that additional mechanical factors, besides energy dissipation, explain the heel’s temperature rise. Therefore, future experiments may explore alternative factors affecting thermodynamic responses, including mechanical (e.g., sound &amp; shear-stress) and physiological mechanisms (e.g., sweating, local metabolic rate, &amp; blood flow).

Long bone shape variation in the forelimb of Rhinocerotoidea: relation with size, body mass and body proportions

In quadrupeds, limb bones are strongly affected by functional constraints linked to weight support, but few studies have addressed the complementary effects of mass, size and body proportions on limb bone shape. During their history, Rhinocerotoidea have displayed a great diversity of body masses and relative size and proportions of limb bones, from small tapir-like forms to giant species. Here, we explore the evolutionary variation of shapes in forelimb bones and its relationship with body mass in Rhinocerotoidea. Our results indicate a general increase in robustness and greater development of muscular insertions in heavier species, counteracting the higher weight loadings induced by an increased body mass. The shape of the humerus changes allometrically and exhibits a strong phylogenetic signal. Shapes of the radius and ulna display a stronger link with body mass repartition than with the absolute mass itself. Congruent shape variation between the humerus and the proximal part of the ulna suggests that the elbow joint is comprised of two strongly covariant structures. In addition, our work confirms the uniqueness of giant Paraceratheriidae among Rhinocerotoidea, whose shape variation is related to both a high body mass and a cursorial forelimb construction.

The evolutionary biomechanics of locomotor function in giant land animals

Giant land vertebrates have evolved more than 30 times, notably in dinosaurs and mammals. The evolutionary and biomechanical perspectives considered here unify data from extant and extinct species, assessing current theory regarding how the locomotor biomechanics of giants has evolved. In terrestrial tetrapods, isometric and allometric scaling patterns of bones are evident throughout evolutionary history, reflecting general trends and lineage-specific divergences as animals evolve giant size. Added to data on the scaling of other supportive tissues and neuromuscular control, these patterns illuminate how lineages of giant tetrapods each evolved into robust forms adapted to the constraints of gigantism, but with some morphological variation. Insights from scaling of the leverage of limbs and trends in maximal speed reinforce the idea that, beyond 100-300 kg of body mass, tetrapods reduce their locomotor abilities, and eventually may lose entire behaviours such as galloping or even running. Compared with prehistory, extant megafaunas are depauperate in diversity and morphological disparity; therefore, turning to the fossil record can tell us more about the evolutionary biomechanics of giant tetrapods. Interspecific variation and uncertainty about unknown aspects of form and function in living and extinct taxa still render it impossible to use first principles of theoretical biomechanics to tightly bound the limits of gigantism. Yet sauropod dinosaurs demonstrate that >50 tonne masses repeatedly evolved, with body plans quite different from those of mammalian giants. Considering the largest bipedal dinosaurs, and the disparity in locomotor function of modern megafauna, this shows that even in terrestrial giants there is flexibility allowing divergent locomotor specialisations.

Limb myology and muscle architecture of the Indian rhinoceros Rhinoceros unicornis and the white rhinoceros Ceratotherium simum (Mammalia: Rhinocerotidae)

Land mammals support and move their body using their musculoskeletal system. Their musculature usually presents varying adaptations with body mass or mode of locomotion. Rhinocerotidae is an interesting clade in this regard, as they are heavy animals potentially reaching three tons but are still capable of adopting a galloping gait. However, their musculature has been poorly studied. Here we report the dissection of both forelimb and hindlimb of one neonate and one adult each for two species of rhinoceroses, the Indian rhinoceros (Rhinoceros unicornis) and the white rhinoceros (Ceratotherium simum). We show that their muscular organisation is similar to that of their relatives, equids and tapirs, and that few evolutionary convergences with other heavy mammals (e.g. elephants and hippopotamuses) are present. Nevertheless, they show clear adaptations to their large body mass, such as more distal insertions for the protractor and adductor muscles of the limbs, giving them longer lever arms. The quantitative architecture of rhino muscles is again reminiscent of that of horses and tapirs, although contrary to horses, the forelimb is much stronger than the hindlimb, which is likely due to its great role in body mass support. Muscles involved mainly in counteracting gravity (e.g. serratus ventralis thoracis, infraspinatus, gastrocnemius, flexores digitorum) are usually highly pennate with short fascicles facilitating strong joint extension. Muscles involved in propulsion (e.g. gluteal muscles, gluteobiceps, quadriceps femoris) seem to represent a compromise between a high maximal isometric force and long fascicles, allowing a reasonably fast and wide working range. Neonates present higher normalized maximal isometric force than the adults for almost every muscle, except sometimes for the extensor and propulsor muscles, which presumably acquire their great force-generating capacity during the growth of the animal. Our study clarifies the way the muscles of animals of cursorial ancestry can adapt to support a greater body mass and calls for further investigations in other clades of large body mass.

Constraints associated with captivity alter craniomandibular integration in wild boar

The domestication process is associated with substantial phenotypic changes through time. However, although morphological integration between biological structures is purported to have a major influence on the evolution of new morphologies, little attention has been paid to the influence of domestication on the magnitude of integration. Here, we assessed the influence of constraints associated with captivity, considered as one of the crucial first steps in the domestication process, on the integration of cranial and mandibular structures. We investigated the craniomandibular integration in Western European Sus scrofa using three-dimensional (3D) landmark-based geometric morphometrics. Our results suggest that captivity is associated with a lower level of integration between the cranium and the mandible. Plastic responses to captivity can thus affect the magnitude of integration of key functional structures. These findings underline the critical need to develop integration studies in the context of animal domestication to better understand the processes accountable for the set-up of domestic phenotypes through time.

Biomechanical insights into the role of foot pads during locomotion in camelid species

From the camel’s toes to the horse’s hooves, the diversity in foot morphology among mammals is striking. One distinguishing feature is the presence of fat pads, which may play a role in reducing foot pressures, or may be related to habitat specialization. The camelid family provides a useful paradigm to explore this as within this phylogenetically constrained group we see prominent (camels) and greatly reduced (alpacas) fat pads. We found similar scaling of vertical ground reaction force with body mass, but camels had larger foot contact areas, which increased with velocity, unlike alpacas, meaning camels had relatively lower foot pressures. Further, variation between specific regions under the foot was greater in alpacas than camels. Together, these results provide strong evidence for the role of fat pads in reducing relative peak locomotor foot pressures, suggesting that the fat pad role in habitat specialization remains difficult to disentangle.

Interspecific variation in the limb long bones among modern rhinoceroses-extent and drivers

Among amniotes, numerous lineages are subject to an evolutionary trend toward body mass and size increases. Large terrestrial species may face important constraints linked to weight bearing, and the limb segments are particularly affected by such constraints due to their role in body support and locomotion. Such groups showing important limb modifications related to high body mass have been called "graviportal." Often considered graviportal, rhinoceroses are among the heaviest terrestrial mammals and are thus of particular interest to understand the limb modifications related to body mass and size increase. Here, we present a morphofunctional study of the shape variation of the limb long bones among the five living rhinos to understand how the shape may vary between these species in relation with body size, body mass and phylogeny. We used three dimensional geometric morphometrics and comparative analyses to quantify the shape variation. Our results indicate that the five species display important morphological differences depending on the considered bones. The humerus and the femur exhibit noticeable interspecific differences between African and Asiatic rhinos, associated with a significant effect of body mass. The radius and ulna are more strongly correlated with body mass. While the tibia exhibits shape variation both linked with phylogeny and body mass, the fibula displays the greatest intraspecific variation. We highlight three distinct morphotypes of bone shape, which appear in accordance with the phylogeny. The influence of body mass also appears unequally expressed on the different bones. Body mass increase among the five extant species is marked by an increase of the general robustness, more pronounced attachments for muscles and a development of medial parts of the bones. Our study underlines that the morphological features linked to body mass increase are not similar between rhinos and other heavy mammals such as elephants and hippos, suggesting that the weight bearing constraint can lead to different morphological responses.