Lateral bending of the lumbar spine during quadrupedalism in strepsirhines

Variation of thoracolumbar vertebral morphology in anthropoid primates

OBJECTIVES

Morphological variation among extant primates in the lumbar vertebral column is well studied. However, knowledge concerning the thoracic spine, an important region responsible for supporting and facilitating movement in the upper trunk, remains relatively scarce. Consequently, our comprehension of the functional differentiation exhibited throughout the thoracolumbar vertebral column among various primate species remains constrained. In this study, we examined patterns of morphological variation in the thoracolumbar vertebral column of extant hominoids, cercopithecoids, and Ateles.

MATERIALS AND METHODS

We collected external shape data on 606 thoracic and lumbar vertebrae from Homo sapiens, Pan troglodytes, Hylobates lar, Macaca fuscata, Chlorocebus aethiops, Colobus guereza, Ateles geoffroyi, and A. belzebuth. Forty-four landmarks were obtained on the three-dimensional surface. Geometric morphometrics was used to quantify the centroid size and variation of the shapes of thoracic and lumbar vertebrae.

RESULTS

Cercopithecoids exhibited greater variation in the size and shape of their thoracic and lumbar vertebrae compared to hominoids and Ateles. Although many vertebral features contributed to the observed variation throughout the thoracolumbar vertebral column within the taxon, the transverse and spinous processes exhibited relatively major contributions.

DISCUSSION

Our results suggest that quadrupedal locomotion requires the functional differentiation between thoracic and lumbar vertebrae, and for hominoids, functional adaptation to orthograde posture necessitates a relatively more uniform shape of thoracic and lumbar vertebrae.

Locomotor characteristics of the ground-walking chameleon Brookesia superciliaris

Understanding the locomotor characteristics of early diverging ground-walking chameleons (members of the genera Brookesia, Rhampholeon, Palleon, and Rieppeleon) can help to explain how their unique morphology is adapted to fit their environment and mode of life. However, nearly all quantitative studies of chameleon locomotion thus far have focused on the larger "true arboreal" chameleons. We investigated kinematics and spatiotemporal gait characteristics of the Brown Leaf Chameleon (Brookesia superciliaris) on different substrates and compared them with true arboreal chameleons, nonchameleon lizards, and other small arboreal animals. Brookesia exhibits a combination of locomotor traits, some of which are traditionally arboreal, others more terrestrial, and a few that are very unusual. Like other chameleons, Brookesia moved more slowly on narrow dowels than on broad planks (simulating arboreal and terrestrial substrates, respectively), and its speed was primarily regulated by stride frequency rather than stride length. While Brookesia exhibits the traditionally arboreal trait of a high degree of humeral protraction at the beginning of stance, unlike most arboreal tetrapods, it uses smaller shoulder and hip excursions on narrower substrates, possibly reflecting its more terrestrial habits. When moving at very slow speeds, Brookesia often adopts an unusual footfall pattern, lateral-sequence lateral-couplets. Because Brookesia is a member of one of the earliest-diverging groups of chameleons, its locomotion may provide a good model for an intermediate stage in the evolution of arboreal chameleons. Thus, the transition to a fully arboreal way of life in "true arboreal" chameleons may have involved changes in spatiotemporal and kinematic characteristics as well as morphology.

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.

Hip medial rotator action of gluteus medius in Japanese macaque (Macaca fuscata) and implications to adaptive significance for quadrupedal walking in primates

The gluteus medius (GM) muscle in quadrupedal primates has long been thought to mainly act as a hip extensor. However, previous reports argue that it may be a prime hip medial rotator and functions to rotate the pelvis in the horizontal plane, suggesting the functional differentiation between the GM and other hip extensors as hamstrings. In this study, we aim to quantify the muscle actions of the GM and hamstrings using muscle moment arm lengths and discuss the functional differentiation among hip extensors. Muscle attachment sites of eight specimens of Japanese macaque (Macaca fuscata) were digitized, and musculoskeletal models were constructed. Flexor-extensor, abductor-adductor, and medial-lateral rotator moment arms were calculated as the models were moved following the experimentally acquired kinematic data during walking on a pole substrate. Using electromyography, we also recorded the pattern of muscle activation. The GM showed a larger medial rotator moment arm length than the extensor moment arm length when it was activated, suggesting this muscle acts mainly as a hip medial rotator rather than as a hip extensor. The medial rotator action of the GM in the early support phase may rotate the pelvis in the horizontal plane and function to help contralateral forelimb reaching as a previous study suggested and facilitate contralateral hindlimb swinging to place the foot near the ipsilateral forelimb's hand.

Fiber type composition of epaxial muscles is geared toward facilitating rapid spinal extension in the leaper Galago senegalensis

OBJECTIVES

We hypothesized that the vertical leaper Galago senegalensis will have epaxial extensor muscles with a fast fiber phenotype to facilitate rapid spinal extension during leaping in comparison to the slow-moving quadruped Nycticebus coucang. To test this, we determined the percentage of fiber cross-sectional area (%CSA) devoted to Type 2 fibers in epaxial muscles of G. senegalensis compared to those of N. coucang.

MATERIALS AND METHODS

Immunohistochemistry was used to identify Type 1, Type 2, and hybrid fibers in iliocostalis, longissimus, and multifidus muscles of G. senegalensis (n = 3) and N. coucang (n = 3). Serial muscle sections were used to estimate and compare proportions, cross-sectional areas (CSAs), and %CSAs of Type 1, Type 2, and hybrid fibers between species.

RESULTS

Epaxial muscles of G. senegalensis were comprised predominantly of Type 2 fibers with large CSAs (%CSA range ≈ 83-94%; range of mean CSA = 1,218-1,586 μm2 ). N. coucang epaxial muscles were comprised predominantly Type 1 fibers with large CSAs (%CSA range ≈ 69-77%; range of mean CSA = 983-1,220 μm2 ).

DISCUSSION

The predominance of Type 2 fibers in G. senegalensis epaxial muscles facilitates rapid muscle excursion and spinal extension during leaping, and is consistent with their relatively long muscle fibers. The predominance of Type 1 fibers in N. coucang epaxial muscles may aid in maintaining stable postures during bridging and cantilevering behaviors characteristic of slow-climbing. These histochemical characteristics highlight the major divergent locomotor repertoires of G. senegalensis and N. coucang.

Contrasting the realized and fundamental niche of the arboreal walking performance of neotropical rodents

Evaluation of the fundamental niche under controlled conditions can provide relevant information about physiological, evolutionary, and ecological aspects of an organism, without the influence of external factors. We investigated how allometric, phylogenetic, and adaptive components contribute to arboreal walking performance by 7 sigmodontine rodents of the Brazilian savanna (Cerrado). We captured the rodents in the field and evaluated their performances by measuring stride length, stride frequency, and velocity on 5 horizontal supports: flat board and cylindrical plastic tubes with diameters of 5.0, 3.5, 2.5, and 2.0cm. Arboreal rodents exhibited higher velocities than terrestrial species by increasing stride frequency and decreasing stride length on supports with smaller diameters. However, terrestrial species decreased both stride frequency and stride length or tended to maintain stride length and vary stride frequency. Our results reveal a strong association between realized arboreal walking performances (as inferred by proportion of arboreal captures) and stride length and frequency. However, performance metrics were weakly related to body mass and exhibited no phylogenetic effects. Our results are consistent with the hypothesis that dynamically stable arboreal walking is facilitated by increased velocity. Arboreal walking performance is likely related to ecological factors rather than phylogenetic constraints.

A avaliação do nicho fundamental por meio de condições controladas pode fornecer informações relevantes sobre aspectos fisiológicos, evolutivos e ecológicos de diferentes organismos, excluindo a influência de fatores externos. Considerando tal abordagem, nós investigamos como componentes alométricos, filogenéticos e adaptativos podem contribuir para a habilidade de locomoção arborícola em sete espécies de roedores sigmodontíneos do Cerrado. Os roedores foram capturados no campo e tiveram suas performances avaliadas por meio de medidas de tamanho de passos, frequência de passos e velocidade em cinco suportes horizontais distintos: tábua, e tubos cilíndricos de plástico com diâmetros de 5,0, 3,5, 2,5 e 2,0cm. Nossos resultados revelaram que roedores arborícolas apresentaram maiores velocidades em comparação com roedores mais terrestres. Adicionalmente, as espécies arborícolas mantiveram ou aumentaram a velocidade em suportes com menores diâmetros, enquanto que os roedores terrestres tenderam a reduzir a velocidade. Para as espécies arborícolas, tais velocidades foram obtidas por meio do aumento da frequência de passos e diminuição do tamanho dos passos. Entretanto, espécies primariamente terrestres diminuíram tanto a frequência quanto o tamanho dos passos, ou tenderam a manter a o tamanho de passos e variar a frequência de passos. Nossos resultados revelaram uma forte associação entre capturas acima do solo e o tamanho e frequência de passos. Contudo, tais aspectos da habilidade de locomoção tiveram fraca relação com a massa corporal e não tiveram relação com a filogenia das espécies analisadas. Nossos resultados corroboram a hipótese de que roedores necessitam aumentar velocidade como forma de manter a locomoção arborícola dinamicamente estável. Entretanto, a habilidade de locomoção é provavelmente mais relacionada com fatores ecológicos do que com restrições filogenéticas.

Epaxial muscle fiber architecture favors enhanced excursion and power in the leaper Galago senegalensis

Galago senegalensis is a habitual arboreal leaper that engages in rapid spinal extension during push-off. Large muscle excursions and high contraction velocities are important components of leaping, and experimental studies indicate that during leaping by G. senegalensis, peak power is facilitated by elastic storage of energy. To date, however, little is known about the functional relationship between epaxial muscle fiber architecture and locomotion in leaping primates. Here, fiber architecture of select epaxial muscles is compared between G. senegalensis (n = 4) and the slow arboreal quadruped, Nycticebus coucang (n = 4). The hypothesis is tested that G. senegalensis exhibits architectural features of the epaxial muscles that facilitate rapid and powerful spinal extension during the take-off phase of leaping. As predicted, G. senegalensis epaxial muscles have relatively longer, less pinnate fibers and higher ratios of tendon length-to-fiber length, indicating the capacity for generating relatively larger muscle excursions, higher whole-muscle contraction velocities, and a greater capacity for elastic energy storage. Thus, the relatively longer fibers and higher tendon length-to-fiber length ratios can be functionally linked to leaping performance in G. senegalensis. It is further predicted that G. senegalensis epaxial muscles have relatively smaller physiological cross-sectional areas (PCSAs) as a consequence of an architectural trade-off between fiber length (excursion) and PCSA (force). Contrary to this prediction, there are no species differences in relative PCSAs, but the smaller-bodied G. senegalensis trends towards relatively larger epaxial muscle mass. These findings suggest that relative increase in muscle mass in G. senegalensis is largely attributable to longer fibers. The relative increase in erector spinae muscle mass may facilitate sagittal flexibility during leaping. The similarity between species in relative PCSAs provides empirical support for previous work linking osteological features of the vertebral column in lorisids with axial stability and reduced muscular effort associated with slow, deliberate movements during anti-pronograde locomotion.

Kinematic and Gait Similarities between Crawling Human Infants and Other Quadruped Mammals

Crawling on hands and knees is an early pattern of human infant locomotion, which offers an interesting way of studying quadrupedalism in one of its simplest form. We investigate how crawling human infants compare to other quadruped mammals, especially primates. We present quantitative data on both the gait and kinematics of seven 10-month-old crawling infants. Body movements were measured with an optoelectronic system giving precise data on 3-dimensional limb movements. Crawling on hands and knees is very similar to the locomotion of non-human primates in terms of the quite protracted arm at touch-down, the coordination between the spine movements in the lateral plane and the limbs, the relatively extended limbs during locomotion and the strong correlation between stance duration and speed of locomotion. However, there are important differences compared to primates, such as the choice of a lateral-sequence walking gait, which is similar to most non-primate mammals and the relatively stiff elbows during stance as opposed to the quite compliant gaits of primates. These finding raise the question of the role of both the mechanical structure of the body and neural control on the determination of these characteristics.

Functional and evolutionary aspects of axial stability in euarchontans and other mammals

The presence of a stable thoracolumbar region, found in many arboreal mammals, is considered advantageous for bridging and cantilevering between discontinuous branches. However, no study has directly explored the link between osteological features cited as enhancing axial stability and the frequency of cantilevering and bridging behaviors in a terminal branch environment. To fill this gap, we collected metric data on costal and vertebral morphology of primate and nonprimate mammals known to cantilever and bridge frequently and those that do not. We also quantified the frequency and duration of cantilevering and bridging behaviors using experimental setups for species that have been reported to show differences in use of small branches and back anatomy (Caluromys philander, Loris tardigradus, Monodelphis domestica, and Cheirogaleus medius). Phylogenetically corrected principal component analysis reveals that taxa employing frequent bridging and cantilevering (C. philander and lorises) also exhibit reduced intervertebral and intercostal spaces, which can serve to increase thoracolumbar stability, when compared to closely related species (M. domestica and C. medius). We observed C. philander cantilevering and bridging significantly more often than M. domestica, which never cantilevered or crossed any arboreal gaps. Although no difference in the frequency of cantilevering was observed between L. tardigradus and C. medius, the duration of cantilevering bouts was significantly greater in L. tardigradus. These data suggest that osteological features promoting axial rigidity may be part of a morpho-behavioral complex that increases stability in mammals moving and foraging in a terminal branch environment.

Mad, bad and dangerous to know: the biochemistry, ecology and evolution of slow loris venom

Only seven types of mammals are known to be venomous, including slow lorises (Nycticebus spp.). Despite the evolutionary significance of this unique adaptation amongst Nycticebus, the structure and function of slow loris venom is only just beginning to be understood. Here we review what is known about the chemical structure of slow loris venom. Research on a handful of captive samples from three of eight slow loris species reveals that the protein within slow loris venom resembles the disulphide-bridged heterodimeric structure of Fel-d1, more commonly known as cat allergen. In a comparison of N. pygmaeus and N. coucang, 212 and 68 compounds were found, respectively. Venom is activated by combining the oil from the brachial arm gland with saliva, and can cause death in small mammals and anaphylactic shock and death in humans. We examine four hypotheses for the function of slow loris venom. The least evidence is found for the hypothesis that loris venom evolved to kill prey. Although the venom's primary function in nature seems to be as a defense against parasites and conspecifics, it may also serve to thwart olfactory-orientated predators. Combined with numerous other serpentine features of slow lorises, including extra vertebra in the spine leading to snake-like movement, serpentine aggressive vocalisations, a long dark dorsal stripe and the venom itself, we propose that venom may have evolved to mimic cobras (Naja sp.). During the Miocene when both slow lorises and cobras migrated throughout Southeast Asia, the evolution of venom may have been an adaptive strategy against predators used by slow lorises as a form of Müllerian mimicry with spectacled cobras.

Arboreal locomotion in rats - the challenge of maintaining stability

Arboreal locomotion has mainly been looked at to date in the context of investigations into the specialization of primates and other 'arboreally adapted' animals. The feat of moving on branches as small or smaller than the body's diameter was tested in rats (Rattus norvegicus) as they moved on horizontal poles of different diameters. The data were compared with data pertaining to terrestrial locomotion. We investigated three-dimensional kinematics and dynamics using biplanar cineradiography with simultaneous substrate reaction force (SRF) measurements. As predicted, rats flexed fore- and hindlimbs and reduced vertical forces during pole locomotion. In addition, the orientation of the mediolateral substrate reaction force resultant (SRR) and impulses switched from lateral to medial. In order to maintain stability during arboreal locomotion, lateral spine movements increased. We propose that the combination of lateral sequence gaits, similar travel speed of the animals and similar contact times, higher or similar peak vertical forces as well as similar mediolateral impulses in forelimbs and hindlimbs are typical of clawed mammals moving on thin supports. Clawed mammals and primates share the reduction of vertical oscillations and side-to-side fluctuations, a crouched posture as well as the increase in lateral spine movements. We conclude that these features are behavioral adaptations caused by the biomechanical constraints of small branch locomotion, regardless of the way they make contact with the substrate.

Functional morphology and three-dimensional kinematics of the thoraco-lumbar region of the spine of the two-toed sloth

Given the importance of thoraco-lumbar spine movements in the locomotion of mammals, it is surprising that in vivo three-dimensional (3-D) data on the intervertebral movement of the mammalian thoraco-lumbar vertebral column during symmetrical gaits is limited to horses and dogs. To test whether kinematic patterns similar to those published for these cursorial species are also present during a contrasting mode of quadrupedalism, we quantified thoraco-lumbar intervertebral movements, the resulting pelvic displacements and relative femoral movements during the trot-like steady-state suspensory quadrupedal locomotion of the two-toed sloth (Xenarthra, Choloepus didactylus). Scientific rotoscoping, a new, non-invasive approach that combines synchronous biplanar high speed X-ray videos and the reconstruction of skeletal elements from computed tomography bone scans, was used to quantify 3-D kinematics. An analysis of vertebral anatomy and epaxial muscle topography suggests that the thoraco-lumbar spine of sloths is well suited to producing lateral bending and long-axis rotation, but limits powerful sagittal extension. Sloths exhibit complex 3-D movements in the thoraco-lumbar spine that are comparable to those observed in other arboreal quadrupedal mammals. Monophasic lateral bending and long-axis rotation, biphasic sagittal bending and maximal amplitude of sagittal bending at the lumbo-sacral joint were also found in other quadruped mammals and may represent general aspects of mammalian symmetric gaits. Maximal amplitude of lateral bending and long-axis rotation vary in regard to the vertebral level. It is suggested that a cranio-caudal pattern of angular deflections of the spine results from the out-of-phase movement of diagonal forelimbs and hindlimbs in other walking gaits, because it is not evident in the trot-like locomotion analyzed here. The analysis also illustrates the difficulties that arise when lumbar movement is deduced from intervertebral joint morphology alone.

Metabolic profile of the perivertebral muscles in small therian mammals: implications for the evolution of the mammalian trunk musculature

In order to gain a better understanding of the ancestral properties of the perivertebral muscles of mammals, this study investigated the fiber type composition of these muscles in six small, extant therians (two metatherians and four eutherians) similar in body shape to early mammals. Despite a few species-specific differences, the investigated species were very similar in their overall distribution of fiber types indicating similar functional demands on the back muscles in mammals of this body size and shape. Deep and short, mono- or multisegmental muscles (i.e., mm. interspinales, intermammillares, rotatores et intertransversarii) consistently showed the highest percentage of slow, oxidative fibers implying a function as local stabilizers of the vertebral column. Superficial and large, polysegmental muscles (i.e., mm. multifidus, sacrospinalis, iliopsoas et psoas minor) were predominantly composed of fast, glycolytic fibers suggesting they function to both globally stabilize and mobilize the spine during rapid non-locomotor and locomotor activities. Some muscles contained striking accumulations of oxidative fibers in specific regions (mm. longissimus et quadratus lumborum). These regions are hypothesized to function independently from the rest of the muscle belly and may be comparable in their functionality to regionalized limb muscles. The deep, central oxidative region in the m. longissimus lumborum appears to be a general feature of mammals and likely serves a proprioceptive function to control the postural equilibrium of the pelvic girdle and lumbar spine. The potential functions of the m. quadratus lumborum during ventilation and ventral stabilization of the vertebral column are discussed. Because representatives of the stem lineage of mammals were comparable in their body proportions and probably also locomotor parameters to the species investigated here, I suggest that the described fiber type distribution is representative of the ancestral condition in mammals. The origin of mammals was associated with a substantial enlargement of the epaxial muscles and the addition of subvertebral muscle mass. Because this novel muscle mass is mainly composed of fast, glycolytic fibers in extant species, it is plausible that these changes were associated with the evolution of increased sagittal mobility in the posterior trunk region in the therapsid ancestors of mammals. The caudally increasing role of sagittal bending in body propulsion is consistent with the overall increase in the percentage of glycolytic fibers in the cranio-caudal direction. The evolution of mammals was also associated with a loss of ribs in the posterior region of the trunk. This loss of ribs is thought to have decreased the stability of the posterior trunk, which may explain the observed greater oxidative capacity of the caudal local stabilizers. The increased need for postural feedback in the more mobile lumbar region may also explain the evolution of the proprioceptive system in the m. longissimus lumborum. Furthermore, the anatomical subdivision of the transversospinal muscle into several smaller muscle entities is suggested to facilitate their functional specialization.

Morphological and functional differentiation in the lumbar spine of lorisids and galagids

The striking contrast in positional behavior exhibited by lorisids (slow quadrupedalism/suspension) and galagids (leaping/quadrupedalism) is well reflected in their postcranial morphology, particularly in the limbs. Although they exhibit very different spinal postures and movements, vertebral adaptations have been less well explored in these taxa. This study addressed morphological and functional differentiation in the lumbar vertebrae of four species of lorisids and five species of galagids. Linear and angular measurements of lumbar vertebrae were compared among taxa using canonical variates analysis (CVA) in conjunction with pairwise comparisons among selected variables. The results were interpreted in the context of a broader comparative sample, including the addition of indriids to the CVA. Compared to galagids, lorisids have relatively shorter lumbar spinous processes that are more perpendicularly (to caudally) oriented relative to a coronal plane. Lorisids also have relatively wider laminae and more transversely oriented prezygapophyses. These features promote lumbar stability and reflect antipronogrady, multiplane spinal movements, and upside-down suspension. Within lorisids, vertebral body length and height vary with body size, reflecting the additional resistance to bending that is required for larger body sizes. Galagid lumbar shape is influenced by body size, but does not show strong variation in accordance with positional behavior differences as defined here. Galagids, indriids, and lorisids are distinct in lumbar morphology and function, but their similarities in lumbar length reduction are suggestive of antipronograde postures in the common ancestor of the galagids, including those who have shifted to a more quadrupedal locomotor repertoire.

Sagittal spine movements of small therian mammals during asymmetrical gaits

Mammalian locomotion is characterized by the use of asymmetrical gaits associated with extensive flexions and extensions of the body axis. Although the impact of sagittal spine movements on locomotion is well known, little information is available on the kinematics of spinal motion. Intervertebral joint movements were studied in two metatherian and three eutherian species during the gallop and halfbound using high-speed cineradiography. Fast-Fourier transformation was used to filter out high frequency digitizing errors and keep the lower frequency sinusoid oscillations that characterize the intervertebral angular movements. Independent of their regional classification as thoracic or lumbar vertebrae, 7+/-1 presacral intervertebral joints were involved in sagittal bending movements. In only one species, no more than five intervertebral joints contributed to the resulting 'pelvic movement'. In general, the trunk region involved in sagittal bending during locomotion did not correspond to the traditional subdivisions of the vertebral column (e.g. as thoracic and lumbar or pre- and postdiaphragmatic region). Therefore, these classifications do not predict the regions involved in spinal oscillations during locomotion. Independent of the gait, maximum flexion of the spine was observed in the interval between the last third of the swing phase and touch-down. This results in a retraction of the pelvis and hindlimbs before touch-down and, we hypothesize, enhances the stability of the system. Maximum extension occurred during the first third of the swing phase (i.e. after lift-off) in all species. In general, the observed timing of dorsoventral oscillations of the spine are in accordance with that observed in other mammals and with activity data of respiratory and epaxial back muscles. Although no strict craniocaudal pattern was observable, the more cranial intervertebral joints tend to flex and extend earlier than the more caudal ones. This is in accordance with the organization and the activation of the paravertebral musculature in mammals. The amplitude of intervertebral joint movements increased caudally, reaching its highest values in the presacral joint. The more intense sagittal bending movements in the caudal intervertebral joints are reflected by the muscle fiber type composition of the back muscles involved. Despite the highly similar amplitude of 'pelvic motion', touch-down and lift-off positions of the pelvis were clearly different between the species with a long, external tail and those with no external tail.

Hind limb proportions and kinematics: are small primates different from other small mammals?

Similar in body size, locomotor behaviour and morphology to the last common ancestor of Primates, living small quadrupedal primates provide a convenient model for investigating the evolution of primate locomotion. In this study,the hind limb kinematics of quadrupedal walking in mouse lemurs, brown lemurs,cotton-top tamarins and squirrel monkeys are analysed using cineradiography. The scaling of hind limb length to body size and the intralimb proportions of the three-segmented hind limb are taken into consideration when kinematic similarities and differences are discussed.

Hind limb kinematics of arboreal quadrupedal primates, ranging in size between 100 g and 3000 g, are size independent and resemble the hind limb kinematics of small non-cursorial mammals. A common feature seen in smaller mammals, in general, is the horizontal position of the thigh at touchdown and of the lower leg at lift-off. Thus, the maximum bone length is immediately transferred into the step length. The vertical position of the leg at the beginning of a step cycle and of the thigh at lift-off contributes the same distance to pivot height. Step length and pivot height increase proportionally with hind limb length, because intralimb proportions of the hind limb remain fairly constant. Therefore, the strong positive allometric scaling of the hind limb in arboreal quadrupedal primates affects neither the kinematics of hind limb segments nor the total angular excursion of the limb. The angular excursion of the hind limb in quadrupedal primates is equal to that of other non-cursorial mammals. Hence, hind limb excursion in larger cercopithecine primates differs from that of other large mammals due to the decreasing angular excursion as part of convergent cursorial adaptations in several phylogenetic lineages of mammals. Typical members of those phylogenetic groups are traditionally used in comparison with typical primates, and therefore the`uniqueness' of primate locomotor characteristics is often overrated.

Insights into the evolution of human bipedalism from experimental studies of humans and other primates

An understanding of the evolution of human bipedalism can provide valuable insights into the biomechanical and physiological characteristics of locomotion in modern humans. The walking gaits of humans, other bipeds and most quadrupedal mammals can best be described by using an inverted-pendulum model, in which there is minimal change in flexion of the limb joints during stance phase. As a result, it seems logical that the evolution of bipedalism in humans involved a simple transition from a relatively stiff-legged quadrupedalism in a terrestrial ancestor to relatively stiff-legged bipedalism in early humans. However, experimental studies of locomotion in humans and nonhuman primates have shown that the evolution of bipedalism involved a much more complex series of transitions, originating with a relatively compliant form of quadrupedalism. These studies show that relatively compliant walking gaits allow primates to achieve fast walking speeds using long strides, low stride frequencies, relatively low peak vertical forces, and relatively high impact shock attenuation ratios. A relatively compliant, ape-like bipedal walking style is consistent with the anatomy of early hominids and may have been an effective gait for a small biped with relatively small and less stabilized joints, which had not yet completely forsaken arboreal locomotion. Laboratory-based studies of primates also suggest that human bipedalism arose not from a terrestrial ancestor but rather from a climbing, arboreal forerunner. Experimental data, in conjunction with anatomical data on early human ancestors, show clearly that a relatively stiff modern human gait and associated physiological and anatomical adaptations are not primitive retentions from a primate ancestor, but are instead recently acquired characters of our genus.

Functional aspects of strepsirrhine lumbar vertebral bodies and spinous processes

The relationship between form and function in the lumbar vertebral column has been well documented among platyrrhines and especially catarrhines, while functional studies of postcranial morphology among strepsirrhines have concentrated predominantly on the limbs. This morphometric study investigates biomechanically relevant attributes of the lumbar vertebral morphology of 20 species of extant strepsirrhines. With this extensive sample, our goal is to address the influence of positional behavior on lumbar vertebral form while also assessing the effects of body size and phylogenetic history. The results reveal distinctions in lumbar vertebral morphology among strepsirrhines in functional association with their habitual postures and primary locomotor behaviors. In general, strepsirrhines that emphasize pronograde posture and quadrupedal locomotion combined with leaping (from a pronograde position) have the relatively longest lumbar regions and lumbar vertebral bodies, features promoting sagittal spinal flexibility. Indrids and galagonids that rely primarily on vertical clinging and leaping with orthograde posture share a relatively short (i.e., stable and resistant to bending) lumbar region, although the length of individual lumbar vertebral bodies varies phylogenetically and possibly allometrically. The other two vertical clingers and leapers, Hapalemur and Lepilemur, more closely resemble the pronograde, quadrupedal taxa. The specialized, suspensory lorids have relatively short lumbar regions as well, but the lengths of their lumbar regions are influenced by body size, and Arctocebus has dramatically longer vertebral bodies than do the other lorids. Lumbar morphology among galagonids appears to reflect a strong phylogenetic signal superimposed on a functional one. In general, relative length of the spinous processes follows a positively allometric trend, although lorids (especially the larger-bodied forms) have relatively short spinous processes for their body size, in accordance with their positional repertoire. The results of the study broaden our understanding of postcranial adaptation in primates, while providing an extensive comparative database for interpreting vertebral morphology in fossil primates.