Elephant facial motor control

Rapid mimicry of trunk and head movements during play in African Savanna elephants (Loxodonta africana)

The basic forms of motor and possibly emotion replication include behavioral contagion and rapid motor mimicry (RMM). RMM-mainly demonstrated during play-occurs when an individual perceives and rapidly (< 1 s) replicates the exact motor sequence of another individual. We collected data on an African Savanna Elephant (Loxodonta africana; N = 15) group housed at the Parque de la Naturaleza de Cabárceno (Spain) on play target movements of both trunk and head. We demonstrated the presence of RMM. Elephants that were more prone in mimicking others' target movements were also more prone to play after observing others playing. RMM-as behavioral contagion-can enhance action coordination between players. As RMM was associated with more offensive play patterns than unreplicated target movements, RMM may allow competitive play sessions to occur, possibly replacing agonistic interactions. Neither individual (age, sex) nor social (affiliation levels) factors modulated the RMM. These findings can be related to the elephant high tolerance levels and the wide presence of play across age (including adults) and sex. Concluding, African elephants have the potential to share their affective states (emotional contagion) via RMM which is relevant to the investigation of the evolution of empathy in mammals including humans.

Bioinspired Hydro- and Hydrothermally Responsive Tubular Soft Actuators

Soft actuators made of thermoresponsive polymers have great potential for intelligent robotics and biomedical devices due to their reversible deformation capability in response to temperature fluctuations. However, they are constrained by a predefined phase transition temperature, limited directional deformation, and nonbiocompatible formulations, thereby restricting their practical utility. Herein a new biomimicry approach is presented to overcome these limitations by developing hydro- and hydrothermally responsive soft actuators made of biocompatible and pliable materials i.e. cotton yarn and polyurethane. We mimic the tubular shape of elephant trunks with their unique muscle orientation by embedding a helical cotton yarn within a hydrophilic polyurethane tube, followed by targeted surface patterning. Unlike the narrow-range shape morphing across the phase transition temperature boundary of typical thermoresponsive hydrogel actuators, we harness hydrothermal stiffness variations in polyurethane to obtain consistent morphing capabilities over a much wider temperature range. The developed actuators can perform versatile activities such as linear, bending, curvilinear, and rotating movements, overcoming the unidirectional motion limitations of conventional soft actuators. The cell viability assay on the building block materials also confirms the high biocompatibility of the actuators. The reported facile fabrication strategy provides new insights for designing complex yet free-standing soft actuators from readily available supple materials.

Of tusks and trunks: A review of craniofacial evolutionary anatomy in elephants and extinct Proboscidea

While being the largest living terrestrial mammals, elephants are best known for their highly modified and uniquely elaborate craniofacial anatomy-most notably with respect to their often-massive tusks and intricately muscular, multifunctional proboscis (i.e., trunk). For over a century, studies of extinct proboscidean relatives of today's elephants have presented hypotheses regarding the evolutionary history of the crania and tusks of these animals and their bearing on the evolution of the proboscis. Herein, I explore major functional characteristics of the proboscidean head. I give a brief review of the anatomy of tusks and dentition, the feeding apparatus, and proboscis in extant elephants and explore their overall bearing in elephant feeding behavior as well as other aspects of their ecology. I also review the evolution of the proboscidean head, with a synthetic analysis of studies and further speculation exploring the interconnected evolutionary roles of tusk morphology and use, feeding anatomy and functional implications thereof, and proboscis anatomy and use in the ancestry of elephants. Notable emphasis is given to the evolutionary role of initial elongation of the mandibular symphysis in the development of the proboscis in many proboscideans. Subsequent secondary shortening of the symphysis and elevation of the temporal region and occiput allowed for a pendulous trunk and proal feeding in living elephants and other proboscidean groups with highly lophodont dentition.

Elephants develop wrinkles through both form and function

The trunks of elephants have prominent wrinkles from their base to the very tip. But neither the obvious differences in wrinkles between elephant species nor their development have been studied before. In this work, we characterize the lifelong development of trunk wrinkles in Asian and African elephants. Asian elephants have more dorsal major, meaning deep and wide, trunk wrinkles (approx. 126 ± 25 s.d.) than African elephants (approx. 83 ± 13 s.d.). Both species have more dorsal than ventral major trunk wrinkles and a closer wrinkle spacing distally than proximally. In Asian elephants, wrinkle density is high in the 'trunk wrapping zone'. Wrinkle numbers on the left and right sides of the distal trunk differed as a function of trunk lateralization, with frequent bending in one direction causing wrinkle formation. Micro-computed tomography (microCT) imaging and microscopy of newborn elephants' trunks revealed a constant thickness of the putative epidermis, whereas the putative dermis shrinks in the wrinkle troughs. During fetal development, wrinkle numbers double every 20 days in an early exponential phase. Later wrinkles are added slowly, but at a faster rate in Asian than African elephants. We discuss the relationship of species differences in trunk wrinkle distribution and number with behavioural, environmental and biomechanical factors.

Minimal Design of the Elephant Trunk as an Active Filament

One of the key problems in active materials is the control of shape through actuation. A fascinating example of such control is the elephant trunk, a long, muscular, and extremely dexterous organ with multiple vital functions. The elephant trunk is an object of fascination for biologists, physicists, and children alike. Its versatility relies on the intricate interplay of multiple unique physical mechanisms and biological design principles. Here, we explore these principles using the theory of active filaments and build, theoretically, computationally, and experimentally, a minimal model that explains and accomplishes some of the spectacular features of the elephant trunk.

Maximum trunk tip force assessment related to trunk position and prehensile 'fingers' implication in African savannah elephants

African elephants have a wide range of abilities using their trunk. As a muscular hydrostat, and thanks to the two finger-like processes at its tip, this proboscis can both precisely grasp and exert considerable force by wrapping. Yet few studies have attempted to quantify its distal grasping force. Thus, using a device equipped with force sensors and an automatic reward system, the trunk tip pinch force has been quantified in five captive female African savanna elephants. Results showed that the maximum pinch force of the trunk was 86.4 N, which may suggest that this part of the trunk is mainly dedicated to precision grasping. We also highlighted for the first time a difference in force between the two fingers of the trunk, with the dorsal finger predominantly stronger than the ventral finger. Finally, we showed that the position of the trunk, particularly the torsion, influences its force and distribution between the two trunk fingers. All these results are discussed in the light of the trunk's anatomy, and open up new avenues for evolutionary reflection and soft robot grippers.

Effect of the habitat and tusks on trunk grasping techniques in African savannah elephants

Among tetrapods, grasping is an essential function involved in many vital behaviours. The selective pressures that led to this function were widely investigated in species with prehensile hands and feet. Previous studies namely highlighted a strong effect of item properties but also of the species habitat on manual grasping behaviour. African savannah elephants (Loxodonta africana) are known to display various prehensile abilities and use their trunk in a large diversity of habitats. Composed of muscles and without a rigid structure, the trunk is a muscular hydrostat with great freedom of movement. This multitasking organ is particularly recruited for grasping food items while foraging. Yet, the diet of African savannah elephants varies widely between groups living in different habitats. Moreover, they have tusks alongside the trunk which can assist in grasping behaviours, and their tusk morphologies are known to vary considerably between groups. Therefore, in this study, we investigate the food grasping techniques used by the trunk of two elephant groups that live in different habitats: an arid study site in Etosha National Park in Namibia, and an area with consistent water presence in Kruger National Park in South Africa. We characterised the tusks profiles and compared the grasping techniques and their frequencies of use for different foods. Our results show differences in food-grasping techniques between the two groups. These differences are related to the food item property and tusk profile discrepancies highlighted between the two groups. We suggest that habitat heterogeneity, particularly aridity gaps, may induce these differences. This may reveal an optimisation of grasping types depending on habitat, food size and accessibility, as well as tusk profiles.

Elephant trunks: Strength and dexterity from mini-fascicles

Muscular hydrostats, such as the elephant trunk, can perform precise motor actions. A new study has revealed that the elephant trunk contains a dense network of tiny muscle fascicles, suggesting that muscle miniaturization may be a key toward understanding how soft organs achieve both strength and dexterity.

Dense reconstruction of elephant trunk musculature

The elephant trunk operates as a muscular hydrostat1,2 and is actuated by the most complex musculature known in animals.3,4 Because the number of trunk muscles is unclear,5 we performed dense reconstructions of trunk muscle fascicles, elementary muscle units, from microCT scans of an Asian baby elephant trunk. Muscle architecture changes markedly across the trunk. Trunk tip and finger consist of about 8,000 extraordinarily filigree fascicles. The dexterous finger consists exclusively of microscopic radial fascicles pointing to a role of muscle miniaturization in elephant dexterity. Radial fascicles also predominate (at 82% volume) the remainder of the trunk tip, and we wonder if radial muscle fascicles are of particular significance for fine motor control of the dexterous trunk tip. By volume, trunk-shaft muscles6 comprise one-third of the numerous, small radial muscle fascicles; two-thirds of the three subtypes of large longitudinal fascicles (dorsal longitudinals, ventral outer obliques, and ventral inner obliques);7,8,9 and a small fraction of transversal fascicles. Shaft musculature is laterally, but not radially, symmetric. A predominance of dorsal over ventral radial muscles and of ventral over dorsal longitudinal muscles may result in a larger ability of the shaft to extend dorsally than ventrally10 and to bend inward rather than outward. There are around 90,000 trunk muscle fascicles. While primate hand control is based on fine control of contraction by the convergence of many motor neurons on a small set of relatively large muscles, evolution of elephant grasping has led to thousands of microscopic fascicles, which probably outnumber facial motor neurons.

Sensorized objects used to quantitatively study distal grasping in the African elephant

Nature evolved many ways to grasp objects without using hands: elephants, octopuses, and monkeys use highly dexterous appendices. From a roboticist's perspective, the elephant trunk is a fascinating manipulator, which strategies can empower robots' interaction capabilities. However, quantifying prehensile forces in such large animals in a safe, ethical, and reproducible manner is challenging. We developed two sensorized objects to investigate the grasping of an adult African elephant with deliberately occluded vision. A cylinder and a handle provided a distributed force (80 and 6 taxels) and inertial measurements in real-time, resisting dirt and shocks. The animal curled the distal portion of the trunk to grasp the tools. Using force and contact area data of the cylinder revealed the animal's ability to finely modulate pressure. The handle data provided insights into the energy-efficient behavior of the animal, with no significant grasping force changes despite variations imposed on both weight (5-15 kg) and initial position of the object.

A Year at the Forefront of Hydrostat Motion

Currently, in the field of interdisciplinary work in biology, there has been a significant push by the soft robotic community to understand the motion and maneuverability of hydrostats. This Review seeks to expand the muscular hydrostat hypothesis toward new structures, including plants, and introduce innovative techniques to the hydrostat community on new modeling, simulating, mimicking, and observing hydrostat motion methods. These methods range from ideas of kirigami, origami, and knitting for mimic creation to utilizing reinforcement learning for control of bio-inspired soft robotic systems. It is now being understood through modeling that different mechanisms can inhibit traditional hydrostat motion, such as skin, nostrils, or sheathed layered muscle walls. The impact of this Review will highlight these mechanisms, including asymmetries, and discuss the critical next steps toward understanding their motion and how species with hydrostat structures control such complex motions, highlighting work from January 2022 to December 2022.

The functional anatomy of elephant trunk whiskers

Behavior and innervation suggest a high tactile sensitivity of elephant trunks. To clarify the tactile trunk periphery we studied whiskers with the following findings. Whisker density is high at the trunk tip and African savanna elephants have more trunk tip whiskers than Asian elephants. Adult elephants show striking lateralized whisker abrasion caused by lateralized trunk behavior. Elephant whiskers are thick and show little tapering. Whisker follicles are large, lack a ring sinus and their organization varies across the trunk. Follicles are innervated by ~90 axons from multiple nerves. Because elephants don't whisk, trunk movements determine whisker contacts. Whisker-arrays on the ventral trunk-ridge contact objects balanced on the ventral trunk. Trunk whiskers differ from the mobile, thin and tapered facial whiskers that sample peri-rostrum space symmetrically in many mammals. We suggest their distinctive features-being thick, non-tapered, lateralized and arranged in specific high-density arrays-evolved along with the manipulative capacities of the trunk.

Elephant banana peeling

VIDEO ABSTRACT.

Elephant trunks use an adaptable prehensile grip

Elephants have long been observed to grip objects with their trunk, but little is known about how they adjust their strategy for different weights. In this study, we challenge a female African elephant at Zoo Atlanta to lift 20-60 kg barbell weights with only its trunk. We measure the trunk's shape and wrinkle geometry from a frozen elephant trunk at the Smithsonian. We observe several strategies employed to accommodate heavier weights, including accelerating less, orienting the trunk vertically, and wrapping the barbell with a greater trunk length. Mathematical models show that increasing barbell weights are associated with constant trunk tensile force and an increasing barbell-wrapping surface area due to the trunk's wrinkles. Our findings may inspire the design of more adaptable soft robotic grippers that can improve grip using surface morphology such as wrinkles.