Fore-Aft Ground Force Adaptations to Induced Forelimb Lameness in Walking and Trotting Dogs

Animals alter their locomotor mechanics to adapt to a loss of limb function. To better understand their compensatory mechanisms, this study evaluated the changes in the fore-aft ground forces to forelimb lameness and tested the hypothesis that dogs unload the affected limb by producing a nose-up pitching moment via the exertion of a net-propulsive force when the lame limb is on the ground. Seven healthy Beagles walked and trotted at steady speed on an instrumented treadmill while horizontal force data were collected before and after a moderate lameness was induced. Peak, mean and summed braking and propulsive forces as well as the duration each force was exerted and the time to reach maximum force were evaluated for both the sound and the lame condition. Compared with the sound condition, a net-propulsive force was produced by the lame diagonal limbs due to a reduced braking force in the affected forelimb and an increased propulsive force in the contralateral hindlimb when the dogs walked and trotted. To regain pitch stability and ensure steady speed for a given locomotor cycle, the dogs produced a net-braking force when the sound diagonal limbs were on the ground by exerting greater braking forces in both limbs during walking and additionally reducing the propulsive force in the hindlimb during trotting. Consistent with the proposed mechanism, dogs maximize their double support phases when walking. Likely associated with the fore-aft force adaptations to lameness are changes in muscle recruitment that potentially result in short- and long-term effects on the limb and trunk muscles.     

Development and neuromodulation of spinal locomotor networks in the metamorphosing frog

Metamorphosis in the anuran frog, Xenopus laevis, involves profound structural and functional transformations in most of the organism's physiological systems as it encounters a complete alteration in body plan, habitat, mode of respiration and diet. The metamorphic process also involves a transition in locomotory strategy from axial-based undulatory swimming using alternating contractions of left and right trunk muscles, to bilaterally-synchronous kicking of the newly developed hindlimbs in the young adult. At critical stages during this behavioural switch, functional larval and adult locomotor systems co-exist in the same animal, implying a progressive and dynamic reconfiguration of underlying spinal circuitry and neuronal properties as limbs are added and the tail regresses. To elucidate the neurobiological basis of this developmental process, we use electrophysiological, pharmacological and neuroanatomical approaches to study isolated in vitro brain stem/spinal cord preparations at different metamorphic stages. Our data show that the emergence of secondary limb motor circuitry, as it supersedes the primary larval network, spans a developmental period when limb circuitry is present but not functional, functional but co-opted into the axial network, functionally separable from the axial network, and ultimately alone after axial circuitry disappears with tail resorption. Furthermore, recent experiments on spontaneously active in vitro preparations from intermediate metamorphic stage animals have revealed that the biogenic amines serotonin (5-HT) and noradrenaline (NA) exert short-term adaptive control over circuit activity and inter-network coordination: whereas bath-applied 5-HT couples axial and appendicular rhythms into a single unified pattern, NA has an opposite decoupling effect. Moreover, the progressive and region-specific appearance of spinal cord neurons that contain another neuromodulator, nitric oxide (NO), suggests it plays a role in the maturation of limb locomotor circuitry. In summary, during Xenopus metamorphosis the network responsible for limb movements is progressively segregated from an axial precursor, and supra- and intra-spinal modulatory inputs are likely to play crucial roles in both its functional flexibility and maturation.     

Evolution of the axial system in craniates: morphology and function of the perivertebral musculature

The axial musculoskeletal system represents the plesiomorphic locomotor engine of the vertebrate body, playing a central role in locomotion. In craniates, the evolution of the postcranial skeleton is characterized by two major transformations. First, the axial skeleton became increasingly functionally and morphologically regionalized. Second, the axial-based locomotion plesiomorphic for craniates became progressively appendage-based with the evolution of extremities in tetrapods. These changes, together with the transition to land, caused increased complexity in the planes in which axial movements occur and moments act on the body and were accompanied by profound changes in axial muscle function. To increase our understanding of the evolutionary transformations of the structure and function of the perivertebral musculature, this review integrates recent anatomical and physiological data (e.g., muscle fiber types, activation patterns) with gross-anatomical and kinematic findings for pivotal craniate taxa. This information is mapped onto a phylogenetic hypothesis to infer the putative character set of the last common ancestor of the respective taxa and to conjecture patterns of locomotor and muscular evolution. The increasing anatomical and functional complexity in the muscular arrangement during craniate evolution is associated with changes in fiber angulation and fiber-type distribution, i.e., increasing obliqueness in fiber orientation and segregation of fatigue-resistant fibers in deeper muscle regions. The loss of superficial fatigue-resistant fibers may be related to the profound gross anatomical reorganization of the axial musculature during the tetrapod evolution. The plesiomorphic function of the axial musculature -mobilization- is retained in all craniates. Along with the evolution of limbs and the subsequent transition to land, axial muscles additionally function to globally stabilize the trunk against inertial and extrinsic limb muscle forces as well as gravitational forces. Associated with the evolution of sagittal mobility and a parasagittal limb posture, axial muscles in mammals also stabilize the trunk against sagittal components of extrinsic limb muscle action as well as the inertia of the body's center of mass. Thus, the axial system is central to the static and dynamic control of the body posture in all craniates and, in gnathostomes, additionally provides the foundation for the mechanical work of the appendicular system.     

The evolutionary transformation of phyllopodous to stenopodous limbs in the Branchiopoda (Crustacea)--is there a common mechanism for early limb development in arthropods?

Arthropods and in particular crustaceans show a great diversity concerning their limb morphology. This makes the homologization of limbs and their parts and our understanding of evolutionary transformations of these limb types problematical. To address these problems we undertook a comparative study of the limb development of two representatives of branchiopod crustaceans, one with phyllopodous the other with stenopodous trunk limbs. The trunk limb ontogeny of a 'larger branchiopod', Cyclestheria hislopi ('Conchostraca') and the raptorial cladoceran Leptodora kindtii (Haplopoda) has been examined by various methods such as SEM, Hoechst fluorescent stain and expression of the Distal-less gene. The early ontogeny of the trunk limbs in C. hislopi and L. kindtii is similar. In both species the limbs are formed as ventrally placed, elongate, subdivided limb buds. However, in C. hislopi, the portions of the early limb bud end up constituting the endites and the endopod of the phyllopodous filtratory limb in the adult, whereas in L. kindtii, similar limb bud portions end up constituting the actual segments in the segmented, stenopodous, and raptorial trunk limbs of the adults. Hence, the portions of the limbs corresponding to the endites of the phyllopodous trunk limbs in C. hislopi (and other 'larger branchiopods') are homologous to the segments of the stenopodous trunk limbs in L. kindtii. It is most parsimonious to assume that the segmented trunk limbs in L. kindtii have developed from phyllopodous limbs with endites and not vice versa. This study has demonstrated at least one way in which segmented limbs have been derived from phyllopodous, multi-lobate limbs during evolution. Similar pathways can be assumed for the evolution of stenopodous, segmented and uniramous limbs in other crustaceans. Irrespective of the differences in the adult limb morphology, the early patterning of arthropod limbs seems to follow a similar principle.     

From swimming to walking: a single basic network for two different behaviors

 In this paper we consider the hypothesis that the spinal locomotor network controlling trunk movements has remained essentially unchanged during the evolutionary transition from aquatic to terrestrial locomotion. The wider repertoire of axial motor patterns expressed by amphibians would then be explained by the influence from separate limb pattern generators, added during this evolution. This study is based on EMG data recorded in vivo from epaxial musculature in the newt Pleurodeles waltl during unrestrained swimming and walking, and on a simplified model of the lamprey spinal pattern generator for swimming. Using computer simulations, we have examined the output generated by the lamprey model network for different input drives. Two distinct inputs were identified which reproduced the main features of the swimming and walking motor patterns in the newt. The swimming pattern is generated when the network receives tonic excitation with local intensity gradients near the neck and girdle regions. To produce the walking pattern, the network must receive (in addition to a tonic excitation at the girdles) a phasic drive which is out of phase in the neck and tail regions in relation to the middle part of the body. To fit the symmetry of the walking pattern, however, the intersegmental connectivity of the network had to be modified by reversing the direction of the crossed inhibitory pathways in the rostral part of the spinal cord. This study suggests that the input drive required for the generation of the distinct walking pattern could, at least partly, be attributed to mechanosensory feedback received by the network directly from the intraspinal stretch-receptor system. Indeed, the input drive required resembles the pattern of activity of stretch receptors sensing the lateral bending of the trunk, as expressed during walking in urodeles. Moreover, our results indicate that a nonuniform distribution of these stretch receptors along the trunk can explain the discontinuities exhibited in the swimming pattern of the newt. Thus, separate limb pattern generators can influence the original network controlling axial movements not only through a direct coupling at the central level but also via a mechanical coupling between trunk and limbs, which in turn influences the sensory signals sent back to the network. Taken together, our findings support the hypothesis of a phylogenetic conservatism of the spinal locomotor networks generating axial motor patterns from agnathans to amphibians. Received: 12 October 2001 / Accepted in revised form: 16 May 2002 Correspondence to: T. Bem (e-mail: tiaza.bem@ibib.waw.pl)     

Comparative morphology among trunk limbs of Caenestheriella gifuensis and Leptestheria kawachiensis (Crustacea: Branchiopoda: Spinicaudata)

Morphological differences among groups of the 24 trunk limbs of Caenestheriella gifuensis (Ishikawa, 1895) and differences between males and females are described and illustrated. A setose attenuate lobe located proximally near enditic lobe 1 and a discoid lobe covered with small setae proximal to enditic lobe 1 are newly described. The five ventral enditic lobes, endopod, exopod, and dorsal exite of traditional spinicaudatan morphology are redescribed. Trunk limbs 1–4 of females bear a palp on enditic lobe 5 and trunk limbs 1–15 of males bear a similar palp. A second, articulating palp is associated with the base of the endopod of trunk limbs 1–2 of males. The proximal part of trunk limbs 19–24, bearing enditic lobe 1, articulates by an arthrodial membrane with the remainder of the limb, and the exite is distal to this arthrodial membrane. Development of trunk limbs, ascertained through an examination of early juvenile instars of Leptestheria kawachiensis Uéno, 1927, includes an asetose limb followed in time by a series of setose limbs that increase in morphological complexity with age. The number of lobes on the asetose limb varies from seven (corresponding to five enditic lobes, an endopod, and an exopod) on anterior limbs to five on trunk limb 24, which lacks the lobes corresponding to enditic lobe 4 and the endopod; these two structures are added later to setose limbs. The attenuate lobe, the discoid lobe, the exite of all trunk limbs, and the palps of the anterior trunk limbs are added to the setose limbs. Development of anterior limbs is accelerated relative to that of posterior limbs, and development of the more posterior limbs is truncated relative to that of limbs immediately anterior to them. Enditic lobe 4 and the endopod of limbs like trunk limb 24 develop from, or are patterned by, enditic lobe 5; the articulating palp of male trunk limbs 1–2 also may be added in this way. A comparison of these observations with development of the copepod maxilliped suggests that the spinicaudatan trunk limb is composed of a praecoxa with three lobes, a coxa and a basis each with one lobe, and an endopod of three segments in females and four in males. This is similar to the homology scheme previously proposed by Hansen in 1925. A critique is given of attempts to homologize parts of arthropod limbs based on developmental gene expression patterns. Stenopodal to phyllopodal transformations of maxillipeds in copepods provide a model at least partly applicable to spinicaudatans, and a ‘multibranched’ interpretation of spinicaudatan (and by extension branchiopodan) limb morphology is rejected. There is nothing intrinsic to the structure of the adult trunk limbs suggesting that they are similar to the adult limbs of the ancestral branchiopod or the ancestral crustacean, but early developmental steps of more posterior limbs are good matches for the morphology of an ancestral crustacean biramal limb predicted by a hypothesis of duplication of the proximo‐distal axis. © 2003 The Linnean Society of London, Zoological Journal of the Linnean Society, 2003, 139 , 547–564. No claim to original US government works.     

Sexual dimorphism in traits related to locomotion: ontogenetic patterns of variation in Podarcis wall lizards

Sexual dimorphism in body size and shape in animals is normally linked to sexual selection mechanisms that modify the morphological properties of each sex. However, sexual dimorphism of ecologically relevant traits may be amplified by natural selection and result in the ecological segregation of both sexes. In the present study, we investigated patterns of sexual dimorphism of morphological traits relevant for locomotion in two lacertid lizards, Podarcis bocagei and Podarcis carbonelli, aiming to identify ontogenetic sources of variation. We analysed trunk and limb variation in relation to total body size, as well as the covariation of different traits, aiming to shed light on the proximate causation of adult sexual dimorphism. We find that, although immatures are generally monomorphic, adult females have a longer trunk, and adult males have longer fore and hind limbs. Both sexes differ substantially with respect to their growth trajectories and relationships between traits, whereas, in some cases, there are signs of morphological constraints delimiting the observed patterns. Because of the direct connection between limb size/shape and locomotor performance, which is relevant both for habitat use and escape from predators, the observed patterns of sexual dimorphism are expected to translate into ecological differences between both sexes. © 2010 The Linnean Society of London, Biological Journal of the Linnean Society, 2010, 99 , 530–543.     

On the symmetry of limb deficiencies among children with multiple congenital anomalies

In humans, unpaired organs are placed in a highly ordered pattern along the left-right axis. As indicated by animal studies, a cascade of signaling molecules establish left-right asymmetry in the developing embryo. Some of the same genes are involved also in limb patterning. To provide a better insight into the connection between these processes in humans, we analysed the symmetry of limb deficiencies among infants with multiple congenital anomalies. The study was based on data collected by the International Clearinghouse for Birth Defects Monitoring Systems (ICBDMS). Registries of the ICBDMS provided information on infants who, in addition to a limb deficiency, also had at least one major congenital anomaly in other organ systems. We reviewed 815 such cases of which 149 cases (18.3 %) were syndromic and 666 (81.7 %) were nonsyndromic. The comparisons were made within the associated limb deficiencies, considering the information on symmetry, using a comparison group with malformations associated not involved in the index association. Among the non-syndromic cases, the left-right distribution of limb deficiencies did not differ appreciably between limb deficiency subtypes (e.g., preaxial, transverse, longitudinal). The left-right distribution of limb anomalies did not differ among most types of non-limb anomalies, though a predominance of left-sided limb deficiencies was observed in the presence of severe genital defects - odds ratio [OR], 2.6; 95 % CI, 1.1-6.4). Limb deficiencies (LDs) were more often unilateral than bilateral when accompanied by gastroschisis (OR, 0.1) or axial skeletal defects (OR, 0.5). On the contrary, LDs were more often bilateral than unilateral when associated with cleft lip with or without cleft palate (OR, 3.9) or micrognathia (OR, 2.6). Specifically, we found an association between bilateral preaxial deficiencies and cleft lip, bilateral amelia with gastroschisis and urinary tract anomalies, and bilateral transverse deficiencies and gastroschisis and axial skeleton defects. Of 149 syndromic cases, 62 (41.6 %) were diagnosed as trisomy 18. Out of the 30 cases of trisomy 18 with known laterality, 20 cases were bilateral. In the remainder the right and left sides were equally affected. Also, in most cases (74.4 %) only the upper limbs were involved. In conclusion the left-right distribution of limb deficiencies among some non-limb anomalies may suggest a relationship between the development of the limb and the left-right axis of the embryo.     

Limb movements and locomotor function in the California sea lion (Zalophus californianus)

The peculiar amphibious mode of life of California sea lions suggests that their locomotor systems may contain adaptations both to life on land and in the water. Previous studies of their locomotor behaviour have been either superficial or based on inferences which were derived from limb structure. Limb movements associated with locomotor behaviour in California sea lions are described on the basis of frame-by-frame analysis of slow motion cinematography of typical aquatic and terrestrial locomotor sequences. Results are compared to reports of terrestrial and aquatic locomotor behaviour in fissiped carnivores, whose locomotor behaviour is presumed to reflect the framework from which the locomotor behaviour of sea lions was derived. The major distinction between sea lions and fissipeds in terms of aquatic locomotor behaviour involves the use of the forelimb in sea lions. Propulsive thrust is generated by medial rotation, adduction and retraction of the forelimbs in sea lions, in contrast to nearly pure limb retraction in fissipeds. The major features which distinguish terrestrial locomotor behaviour in sea lions from that of fissipeds are use of the manus as a transverse rather than sagittal propulsive lever and extensive use of posterior axial and head and neck movements rather than hindlimb movements. The biomechanical implications of these movements are used to elucidate their potentially adaptive features.     

Treatment of brachial nerves with colchicine inhibits limb regeneration in the newt Notophthalmus viridescens

In urodele amphibians, limb regeneration is dependent on innervation and is blocked by the administration of colchicine. The objective of this experiment was to determine if colchicine blocks limb regeneration by a direct action on the blastema cells or by an indirect action on the nerves, specifically, if colchicine treatment of the brachial nerves would inhibit limb regeneration in the newt Notophthalmus viridescens. Colchicine was applied to the nerves by implanting a colchicine-loaded silastin block adjacent to the brachial nerves of an amputated newt limb. With appropriate dose levels of colchicine, limb regeneration was completely inhibited. Contralateral control limbs, carrying unloaded silastin blocks, and control limbs with colchicine-loaded blocks implanted equidistant from the blastema, but not adjacent to the brachial nerves, regenerated normally. Thus, the results indicate that the colchicine inhibition of limb regeneration is mediated by colchicine effects on the nerves. The possible mechanism of colchicine action on nerves may involve either wallerian degeneration, or inhibition of axoplasmic transport, or both.     

The feeding mechanisms of Lynceus (Crustacea: Branchiopoda: Laevicaudata), with special reference to L. simiaefacies Harding

Although generally assumed to be filter feeders, branchiopod crustaceans of the laevicaudatan genus Lynceus O.F. Müller, 1776 possess no filters and do not collect food by filtration. Investigated species of these bivalved, multi‐limbed animals have basically benthic habits and collect particulate food, mostly detritus, by scraping or sweeping it from surfaces with suitably armed trunk limbs. L. simiaefacies Harding, 1941, known only from a desert pool in Yemen, has trunk limbs that are armed with particularly robust scrapers and much of the complexity of these limbs and their armature is related to the collection and manipulation of detrital food by mechanical means. Material collected by scrapers borne distally on the more anterior limbs – although the anteriormost is very lightly armed – is swept posteriorly and dorsally, assisted by the armature of the more proximal endites, towards the posterior end of a deep food groove, whence it is passed anteriorly by the substantial gnathobases of the trunk limbs. The necessary movements of the trunk limbs are facilitated by a system of intrinsic muscles that enable individual endites to be moved independently – a remarkable specialized feature of a phyllopodial appendage. Before it enters the food groove, collected material is at all times confined to a narrow median chamber, or cage, between the two sets of opposed trunk limbs that extends over most of the anterior limbs – which are the largest. Each cage wall serves as a screen, covering the limbs of its side and is made up of long setose screening setae that superficially resemble coarse filter setae, and arise from the more proximal endites of most of the anterior trunk limbs. The screens prevent collected material from entering the inter‐limb spaces into which water flows during each cycle of trunk limb movements, where its presence would be disastrous. They do not interfere with the spines of the proximal endites that can protrude between them. The screens do not extend to the extreme posterior end of the trunk limb series where a complex and dense array of specialized spines of the short posterior trunk limbs completes the task of sweeping food material into the food groove. Material is passed anteriorly along the food groove by the trunk limb gnathobases and the small but robustly armed maxillules to the mandibles. Although constructed on the basic, boat‐like, branchiopod plan, in contrast to those of most particle‐feeding branchiopods whose mandibles have a broad masticatory surface, those of Lynceus have a masticatory surface that is narrow and elongate in the antero‐posterior plane. Interestingly, while the number of ‘teeth’ into which this surface is elaborated is few in most species of the genus, inviting comparison with a similar attribute in the Notostraca, L. simiaefacies has more numerous, smaller teeth. Although following the branchiopod plan, the mandibular musculature appears to have its own distinctive features but remains to be investigated in properly fixed material. At its distal extremity the oesophagus is differentiated into a small but complex gizzard, of which there appears to be no parallel in any other branchiopod order. This is described for the first time. Although provided with natatory antennae, species of Lynceus also employ their trunk limbs as organs of propulsion. In L. gracilicornis (Packard, 1871) the carapace valves can gape to more than 90°, which allows the trunk limbs to make a contribution to propulsion in a manner akin to that of the Anostraca. In this respect the Laevicaudata appears to stand in contrast to the Spinicaudata, in most species of which the trunk limbs contribute little or nothing to locomotion. More information is needed on representatives of both orders, which have received little study as living animals. Brief comments are made on the systematic position of the Laevicaudata, about which much remains to be resolved. © 2009 The Natural History Museum. Journal compilation © 2009 The Linnean Society of London, Zoological Journal of the Linnean Society, 2009, 155 , 513–541.     

Morphogenesis of the chick embryo limb. Competence of the embryonic and extra-embryonic ectoderm

Ecto-mesodermal interactions were investigated during the initiation of limb development in avian embryos. Experiments were performed on 2-day chick embryos. They consisted in implanting prospective leg mesoderm at different medio-lateral levels of the trunk and also into the extra-embryonic area. The implanted mesoderm was thus brought into contact with embryonic or extra-embryonic cicatricial or healing ectoderm, the ability of which to participate in the formation of an ectopic leg was tested. Whatever the level of embryonic ectoderm tested in hosts ranging from stage 14 to 27 pairs of somites (axial, paraxial, flank, ventrum), the experiments resulted in the formation of supernumerary limbs. Their frequency was level-dependent and decreased for each level, with increasing age of the host. The weakest competence was observed in the ectoderm of the prospective ventrum, the strongest in that of the prospective flank, axial and paraxial ectoderm showing an intermediary competence. Extra-embryonic ectoderm of blastoderms of the same age was unable to respond to the inducing action of the implanted prospective leg mesoderm. It was found to be incompetent, even at younger stages (5 to 13 pairs of somites).     

A structural and functional analysis of walking in the turtle,Chrysemys picta marginata

Walking of Chrysemys has been studied by cinephotography and x-rays. The lateral sequence, diagonal couplet gait, limb support sequence, and wide track provide great stability, yet a slight pitch and roll cause some plastral drag. Velocity ranges from 28 mm to 51 mm/second, and fluctuates within a stride. Limb movements and structure resemble those of other ectotherms, but incorporate modifications reflecting the animal's short, broad trunk encased in a shell and carried close to the ground. The triradiate pectoral girdle so articulates with the shell as to act as a truss for weight transfer to the ground. Girdle rotation increases the efficiency of the girdle as a truss, and contributes to locomotor efficiency. The glenoid cavities are more than twice as far apart as the acetabula, so a thrust from the pectoral girdle has less propulsive efficiency on the center of gravity than one from the acetabulum. The humerus and femur are protracted to a greater extent than in other ectotherms and their horizontal arcs of retraction are less. Rotation of these elements about their longitudinal axes contributes to the length of a stride and to foot placement and withdrawal. Differences in the movements of comparable segments of front and hind limbs correlate with differences in the width of the girdles, a crus longer than the antebrachium, and different capacities for joint rotation.     

Evolution of chameleon locomotion,or how to become arboreal as a reptile

High-speed, biplanar X-ray motion analysis, X-ray reconstruction of moving morphology (XROMM) and morphological studies have led to the identification of those traits which are considered to be crucial for the evolution of arboreal locomotion in chameleons. The loss of the extensive lateral undulation typical of reptiles needs to be compensated by high mobility in the shoulder girdle and a clear functional regionalization of the trunk. Large limb excursion angles provide a compliant gait and are made possible by a functional parasagittalization of fore- and hind limbs, at least temporarily. All these evolutionary novelties parallel very similar modifications in the evolution of the locomotor apparatus in therian mammals. We propose that the convergent “invention” of dynamic stability and a compliant gait seem to be responsible for the locomotor similarities between chameleons and mammals.     

The effect of vitamin A on limb regeneration in Rana temporaria

Previous experiments in which vitamin A has been administered to developing or regenerating limbs have shown that different limb axes are affected. In regenerating axolotl limbs, serial reduplications in the proximodistal axis are produced. In the developing chick limb bud, mirror-imaged reduplications in the anteroposterior axis are produced. Results reported here on Rana temporaria limb buds reveal that vitamin A causes both effects to occur. That is, limbs are both serially reduplicated in the proximodistal axis and mirror imaged in the anteroposterior axis. Time and concentration effects are explored and the significance of these results for our current understanding of axial organisation in limbs is discussed.     

Locomotor activity differences between sympatric patas monkeys (Erythrocebus patas) and vervet monkeys (Cercopithecus aethiops): Implications for the evolution of long hindlimb length in Homo

Homo erectus is notable for its taller stature and longer lower limbs relative to earlier hominids, but the selective pressures favoring such long limbs are unclear. Among anthropoid primates, patas monkeys (Erythrocebus patas) and extant hominids share several extreme characteristics involved with foraging and movement, including the relatively longest lower limb proportions, longest daily travel distances and largest home ranges for their body or group size, occupancy of some of the driest habitats, and very efficient thermoregulatory systems. We suggest that patas monkeys are an appropriate behavioral model with which to speculate on the selective pressures that might have operated on H. erectus to increase lower limb length. Here, in a comparison of the locomotor activities of patas monkeys and sympatric, closely related vervet monkeys (Cercopithecus aethiops), we provide evidence for the hypothesis that patas use their long stride more to increase foraging efficiency while walking than to run, either from predators or otherwise. Am J Phys Anthropol 105:199–207, 1998. © 1998 Wiley-Liss, Inc.     

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are interested in decoding these interactions in the salamander, a key animal from an evolutionary point of view. It exhibits both swimming and stepping gaits and is faced with the problem of producing efficient propulsive forces using the same musculo-skeletal system in two environments with significant physical differences in density, viscosity and gravitational load. Yet its nervous system remains comparatively simple. Our approach is based on a combination of neurophysiological experiments, numerical modeling at different levels of abstraction, and robotic validation using an amphibious salamander-like robot. This article reviews the current state of our knowledge on salamander locomotion control, and presents how our approach has allowed us to obtain a first conceptual model of the salamander spinal locomotor networks. The model suggests that the salamander locomotor circuit can be seen as a lamprey-like circuit controlling axial movements of the trunk and tail, extended by specialized oscillatory centers controlling limb movements. The interplay between the two types of circuits determines the mode of locomotion under the influence of sensory feedback and descending drive, with stepping gaits at low drive, and swimming at high drive.     

Sexual dimorphism and interpopulation differences in lizard hind limb length: locomotor performance or chemical signalling?

Intraspecific variation in morphology has often been related to fitness differences through its effects on performance. In lizards, variation in hind limb length can be shaped by natural selection for increased locomotor performance, sexual selection on the number or size of femoral pores involved in chemical signalling, or both. Here, we analyse the selective forces involved in sexual dimorphism and differences in hind limb length between two populations of Psammodromus algirus living at different elevation. Males were more robust and had longer hind limbs and limb segments than females, and low‐elevation lizards had longer limbs than high‐elevation lizards. However, differences in locomotor performance were small and non‐significant, making natural selection for faster runs an unlikely explanation for the observed pattern. On the other hand, males had more femoral pores than females, and lizards had more pores at lower elevation, although the difference was significant only for males (which invest more in chemical signalling). In males, the number of pores, which remains constant along a lizard's life, was not correlated with hind limb length. However, femur length was positively correlated with mean pore size, allowing low‐elevation males to have larger than expected pores, which could increase the effectiveness with which they spread their signals in a dry and warm habitat where chemicals become volatile rapidly. Also, saturation of the sexual coloration of the head was higher for low‐elevation males, suggesting that sexual selection pressures may be more intense. Overall, our results indicate that sexual selection plays a significant role in shaping intraspecific variation in hind limb length. © 2011 The Linnean Society of London, Biological Journal of the Linnean Society, 2011, 104 , 318–329.     

The effects of distal limb segment shortening on locomotor efficiency in sloped terrain: implications for Neandertal locomotor behavior

Past studies of human locomotor efficiency focused on movement over flat surfaces and concluded that Neandertals were less efficient than modern humans due to a truncated limb morphology, which may have developed to aid thermoregulation in cold climates. However, it is not clear whether this potential locomotor disadvantage would also exist in nonflat terrain. This issue takes on added importance since Neandertals likely spent a significant proportion of their locomotor schedule on sloped, mountainous terrains in the Eurasian landscape. Here a model is developed that determines the relationship between lower limb segment lengths, terrain slope, excursion angle at the hip, and step length. The model is applied to Neandertal and modern human lower limb reconstructions. In addition, for a further independent test that also allows more climateterrain cross comparisons, the same model is applied to bovids living in different terrains and climates. Results indicate that: (1) Neandertals, despite exhibiting shorter lower limbs, would have been able to use similar stride frequencies per speed as longer-limbed modern humans on sloped terrain, due to their lower crural indices; and (2) shortened distal limb segments are characteristic of bovids that inhabit more rugged terrains, regardless of climate. These results suggest that the shortened distal lower limb segments of Neandertals were not a locomotor disadvantage within more rugged environments.     

External morphology of limb development in the amphipod <Emphasis Type="Italic">Orchestia cavimana</Emphasis> (Crustacea,Malacostraca, Peracarida)

The external morphology of limb development in Orchestia cavimana is examined by scanning electron microscopy and fluorescence staining from the appearance of the first limb buds until hatching. As other amphipods, O. cavimana undergoes direct development and the degree of segmental differentiation shows a more or less continual decrease in anteroposterior direction. Limbs form ventrally as small buds, which elongate and divide into podomeres early in development. This early subdivision largely corresponds with the limb segmentation of the hatchling. When the post-naupliar limbs start to develop, the germ band begins to split into two halves along the midline, so that the trunk limbs transiently occupy a very dorsolateral position. After the germ band has closed again, the differentiation into the characteristic amphipodan tagmata (cephalothorax, pereon, pleon) takes place and the limb podomeres lose their round-shape. The late embryo is covered by a so-called intermediate cuticle, which is formed after an embryonic moult and shed after hatching. The early development of O. cavimana reveals the Anlage of a vestigial seventh pleonic segment that is assumed to belong to the ground pattern of malacostracans, but is retained as a free, limbless segment only in adult Leptostraca. A transient subdivision of the proximal segment of the pleopods suggests the occurrence of a coxa and a basis in these limbs. The mandible attains its upright, adult position via a characteristic bending process that is strikingly similar to that in Archaeognatha (Insecta).