Voluntary bipedal walking of infant chimpanzees

The voluntary bipedal walking of infant chimpanzees was studied by the analysis of foot force and by motion analysis. The infants were trained to locomote on a level platform without any restrictions on the locomotor pattern. The voluntary bipedal walking was compared with the other types of locomotion at the same age and with the trained bipedal walking performed by other chimpanzees, including adult chimpanzees. The characteristics of voluntary bipedal walking in the infant until one year of age were: (1) high-speed walking with short cycle duration; (2) short stance phase duration; (3) small braking component of the preceding leg and large acceleration of the following leg; (4) one downward peak in the vertical component; and (5) a relatively small transverse component. Bipedal walking usually continued for less than one second and ended in quadrupedal locomotion. During walking, the preceding foot touched the floor, heel first, as in the case of older chimpanzees and humans. At this age, bipedal walking was similar to high-speed locomotion. The voluntary bipedal walking of the two-year-old and frour-yearold chimpanzees was characterized as follows: (1) slower speed than during quadrupedal locomotion, (2) relatively long periods and distances; (3) well balanced accelerating and braking components; and (4) a vertical component showing two downward peaks and a trough in between during numerous trials. The last characteristic means that the body center of gravity is higher in the single stance phase, just as in the bipedal walkinbg of the adult chimpanzees and humans. The bipedal walking of infant chimpanzees was discussed in comparison with the walking of humans, including infants.     

Hindlimb dominance during primate high-speed locomotion

Quadrupedal locomotion was mechanically studied for four species of primates, the chimpanzee, the rhesus macaque, the tufted capuchin, and the ring-tailed lemur, from low to high speeds of about two to ten times the anterior trunk length per second. A wide variety of locomotor patterns was observed during the high-speed locomotion of these primates. Positive correlations were observed between the peak magnitude of foot force components and speed. The differentiation of the foot force between the forelimb and the hindlimb did not largely change with a change of speed for each species. The vertical component and the accelerating component for the rhesus macaque were relatively large in the forelimb from low- to high-speed locomotion. The rhesus macaque, which habitually locomotes on the ground, differed in the quadrupedal locomotion from the other relatively arboreal primates, for which the hindlimb was clearly dominant in their dynamic force-producing distribution between the forelimbs and the hindlimbs. The previously reported locomotor difference, which was indicated among primates from the foot force pattern between the forelimb and the hindlimb during walking, also applied to high-speed locomotion.     

Stresses exerted in the hindlimb muscles of common chimpanzees (Pan troglodytes) during bipedal locomotion

Recent studies have indicated that chimpanzee bipedality is mechanically inefficient and dynamically unlike that of humans, thus undermining the chimpanzee analogy for mechanical aspects of the early evolution of hominid bipedalism. This paper continues this theme by measuring the forces and stresses engendered by the muscles during bipedal locomotion, for an untrained chimpanzee and for data from chimpanzees which have been encouraged to walk bipedally, presented in the literature. Peak stresses in the triceps surae were lower for the untrained chimpanzee than for the trained subjects because during the late stance phase, when peak ankle moments occur, the centre of pressure of the ground reaction force on the foot of the untrained chimpanzee stayed close to the ankle joint. In contrast, for the trained subjects it moved closer to the toes, as in human bipedalism. Quadriceps and hip extensor stresses are approximately 30% larger for the untrained chimpanzee than for the trained subjects, because the trained chimpanzees walked with a more erect posture. These results may reflect the way in which muscles can develop in response to training, since research on humans has shown that muscle physiological cross-sectional area increases as a result of exercise, resulting in smaller stresses for a given muscle force. During a slow walk, untrained chimpanzees were found to exert far greater muscle stresses than humans do when running at moderate speed, particularly in the muscles that extend the hip, because of the bent-hip, bent-knee posture.     

Dimensions and moment arms of the hind- and forelimb muscles of common chimpanzees (Pan troglodytes).

This paper supplies quantitative data on the hind- and forelimb musculature of common chimpanzees (Pan troglodytes) and calculates maximum joint moments of force as a contribution to a better understanding of the differences between chimpanzee and human locomotion. We dissected three chimpanzees, and recorded muscle mass, fascicle length, and physiological cross-sectional area (PCSA). We also obtained flexion/extension moment arms of the major muscles about the limb joints. We find that in the hindlimb, chimpanzees possess longer fascicles in most muscles but smaller PCSAs than are predicted for humans of equal body mass, suggesting that the adaptive emphasis in chimpanzees is on joint mobility at the expense of tension production. In common chimpanzee bipedalism, both hips and knees are significantly more flexed than in humans, necessitating muscles capable of exerting larger moments at the joints for the same ground force. However, we find that when subject to the same stresses, chimpanzee hindlimb muscles provide far smaller moments at the joints than humans, particularly the quadriceps and plantar flexors. In contrast, all forelimb muscle masses, fascicle lengths, and PCSAs are smaller in humans than in chimpanzees, reflecting the use of the forelimbs in chimpanzee, but not human, locomotion. When subject to the same stresses, chimpanzee forelimb muscles provide larger moments at the joints than humans, presumably because of the demands on the forelimbs during locomotion. These differences in muscle architecture and function help to explain why chimpanzees are restricted in their ability to walk, and particularly to run bipedally.     

A Phase-Dependent Hypothesis for Locomotor Functions of Human Foot Complex

The human foot is a very complex structure comprising numerous bones, muscles, ligaments and synovial joints. As the only component in contact with the ground, the foot complex delivers a variety of biomechanical functions during human locomotion, e.g. body support and propulsion, stability maintenance and impact absorption. These need the human foot to be rigid and damped to transmit ground reaction forces to the upper body and maintain body stability, and also to be compliant and resilient to moderate risky impacts and save energy. How does the human foot achieve these apparent conflicting functions？ In this study, we propose a phase-dependent hypothesis for the overall locomotor functions of the human foot complex based on in-vivo measurements of human natural gait and simulation results of a mathematical foot model. We propse that foot functions are highly dependent on gait phase, which is a major characteristics of human locomotion. In early stance just after heel strike, the foot mainly works as a shock absorber by moderating high impacts using the viscouselastic heel pad in both vertical and horizontal directions. In mid-stance phase （-80% of stance phase）, the foot complex can be considered as a springy rocker, reserving external mechanical work using the foot arch whilst moving ground contact point forward along a curved path to maintain body stability. In late stance after heel off, the foot complex mainly serves as a force modulator like a gear box, modulating effective mechanical advantages of ankle plantiflexor muscles using metatarsal-phalangeal joints. A sound under- standing of how diverse functions are implemented in a simple foot segment during human locomotion might be useful to gain insight into the overall foot locomotor functions and hence to facilitate clinical diagnosis, rehabilitation product design and humanoid robot development.     

Effect of hindlimb unloading on interlimb coordination during treadmill locomotion in the rat

Effects of hindlimb unloading on interlimb coordination were examined in adult rats walking on a treadmill at moderate speed. In the first group of animals, the electromyographic activity (EMG) of soleus muscle of both hindlimbs was recorded after 7 and 14 days of unloading. In the second group, the EMG was recorded daily until the 14th day of unloading. The general organization of locomotion was preserved in the two groups whatever the duration of the unloading. The step cycles of the two hindlimbs were always strictly alternating. However, the locomotor pattern was very irregular. A lateral instability was observed. It was accompanied by an abduction of the hindlimbs, and frequent hyperextensions of the ankle when walking. The EMG analysis showed an increase in step cycle duration and in coactivation duration of the soleus muscles (i.e. in the double stance duration). In the rats recorded daily, mean EMG was dramatically reduced the 1st day of unloading, suggesting a decrease in the neural drive. Taken together, these data indicate that 14 days of hindlimb unloading can alter the neuromuscular pattern during locomotion. It is proposed that these changes are related to changes in the peripheral sensory information. Accepted: 29 June 1998     

A biomechanical model for size, speed and anatomical variations of the energetic costs of running mammals

Here we propose a model of energetic costs and the muscle-tendon unit function on running mammals. The main goal is to set a simple theoretical framework which gives an understanding of the biomechanical principles behind the size, speed and anatomical variations of the energetic costs of running mammals. The model is a point-like mass withstood by a two-segment leg with an extensor muscle serially attached to a tendon. We considered withstanding body weight during the stance phase as the main role of the muscle-tendon unit during fast locomotion. The ground reaction force dependence on speed and the time of stance phase as well as other biomechanical characteristics were taken from previous empirical studies of running. At the same time, the morphological variations with body mass were taken from empirically well-established allometric equations for mammals. The metabolic cost was estimated from an empirical equation relating metabolic power with muscular force and speed in shortening and stretching. Our model predicts the pattern of mass specific metabolic rate variations with both speed and body mass. It also gives an explanation of the experimentally reported linear inverse relationship between the rate of energy used for running and the time of application of force by the foot to the ground during each stride. It also suggests an explanation of the unusual energy saving adaptations of large macropodids. It provides some predictions on the relationship, between energy costs and muscle-tendon unit characteristics, testable on further experiments.     

Plantigrady and foot adaptation in African apes: implications for hominid origins.

In living primates, except the great apes and humans, the foot is placed in a heel-elevated or semi-plantigrade position when these animals move upon arboreal or terrestrial substrates. Heel placement and bone positions in the non-great ape primate foot are designed to increase mobility and flexibility in the arboreal environment. Orangutans have further enhanced foot mobility by adapting their feet for suspension and thus similarly utilize foot positions where the heel does not touch the substrate. Chimpanzees and gorillas represent an alternative pattern (plantigrady), in which the heel contacts the surface of the support at the end of swing phase, especially during terrestrial locomotion. Thus, chimpanzees and gorillas possess feet adapted for both arboreal and terrestrial substrates. African apes also share several osteological features related to plantigrady and terrestrial locomotion with early hominids. From this analysis, it is apparent that hominid locomotor evolution passed through a quadrupedal terrestrial phase.     

Mechanics of increased support of weight by the hindlimbs in primates

Quadrupedal primates support most of their weight on their hindlimbs during locomotion. Neither the position of their center of gravity nor the average position of their foot contacts is substantially different from that of other quadrupeds supporting most of their weight on their forelimbs. Arguments are presented to support the theory that high levels of hindlimb retractor activity will produce this shift of support to the hindlimbs. If this muscular activity is appropriately timed, it will generate only low horizontal accelerations, which can be offset by small changes in the average position of the limbs. Estimates of muscular force are derived from force plate and kinematic data, which indicate that primates in fact do exhibit the postulated pattern of muscular activity. It is suggested that this shift occurs to reduce the compressive forces on the forelimbs.     

“Stepping-sticks” and “seat-sticks”: New types of tools used by wild chimpanzees (Pan troglodytes) in Sierra Leone

In Tenkere, Sierra Leone, a community of wild chimpanzees (Pan troglodytes verus) spent long hours eating the fruits and flowers of the Kapok (Ceiba pentandra) tree. The branches of this species are covered in sharp thorns which make movement in their high canopies problematic for the chimpanzees. In an apparent attempt to increase their mobility and to ease the discomfort of lengthy bouts of eating in these trees, some of the Tenkere chimpanzees have been observed using stick tools as foot (“stepping-sticks”) and body (“seat-sticks”) protection against the painful thorns. This form of tool-using is culturally unique to the Tenkere chimpanzees, as at other sites where these apes have been observed eating parts of kapok trees, there are no published records of this tool technology. In three of the stepping-stick tool use incidents, the chimpanzee used the tool(s), held between their greater and lesser toes, in locomotion. This form of tool use is the first recorded case of habitually used tools that can be justifiably categorized as being “worn” by any known wild population of Pan troglodytes. Am J Primatol 41:45–52, 1997. © 1997 Wiley-Liss, Inc.     

EMG of chimpanzee shoulder muscles during knuckle-walking: problems of terrestrial locomotion in a suspensory adapted primate

By most accounts, the upper limb of the chimpanzee is primarily adapted to suspensory postures and locomotion. In order to determine how the derived morphology of the chimpanzee forelimb has affected the form of quadrupedal locomotion displayed by these animals, electromyographic activity patterns of 10 shoulder muscles during knuckle-walking in two chimpanzee subjects were analysed and compared to data on the opossum and cat taken from the literature. Telemetered electromyography coupled with simultaneous video recording was employed in order to study unfettered locomotion in the chimpanzee subjects.
Chimpanzees are characterized by a quadrupedal gait in which the hind limb overstrides the ipsilateral forelimb. Forelimb position in the plane of abduction/adduction is significantly affected by whether the hind limb passes inside or outside its ipsilateral forelimb. The degree of abduction adduction of the forelimb, in turn, influences many of the muscle activity patterns. That is, some muscles would be more frequently or less frequently active, depending on whether the arm was relatively abducted or adducted during a stride. Thus, there can be no single motor programme that generates the step cycle in chimpanzees.
While there are some parallels between muscle recruitment patterns for chimpanzee, opossum and cat quadrupedalism, the results of this study also indicate that many aspects of muscle use in chimpanzees have been significantly influenced by factors related to increased mobility of the upper limb. Finally, this study has revealed that moving the arm forward during swing phase of knuckle-walking is not a simple product of muscular elTort. and that other mechanisms must be involved. However, it is unclear at present exactly what these mechanisms may be.     

Signs of intelligence in cross-fostered chimpanzees

In cross-fostering, the young of one species are reared by adults of another, as in the classical ethological studies of imprinting and song-learning. In our laboratory, infant chimpanzees were reared under human conditions that included two-way communication in American Sign Language (A.S.L.), the gestural language of the deaf in North America. A large body of evidence from five chimpanzees demonstrated stage by stage replication of basic aspects of the acquisition of speech and signs by hearing and deaf children. Here we review evidence that, under double-blind conditions: (i) the chimpanzees communicated information in A.S.L. to human observers; (ii) independent human observers agreed in their identification of the chimpanzee signs, (iii) the chimpanzees could use the signs to refer to natural language categories: DOG for any dog, FLOWER for any flower, SHOE for any shoe.     

Comparison of Development and Life History in Pan and Cebus

We examined growth and development in capuchins and chimpanzees in relation to weaning, onset of reproduction, and reproductive life span. Striking differences are evident in neurobehavioral status at birth (more mature in capuchins), the relative duration of infancy (longer in chimpanzees), and the proportional weight of the infant at the time of weaning (greater in capuchins). Although capuchins and chimpanzees spend a similar proportion of life in a weaned but reproductively immature state, chimpanzees spend so much more of their lives as nursing infants that reproductive output per individual is much lower than in capuchins. Discussion centers around tolerated transfers of food (food-sharing) as a potential adaptation to limited foraging success by immature foragers. Perhaps food transfers from adult to infant, which is a more prominent feature of behavior in chimpanzees than in capuchins in natural environments, allow a very small weanling chimpanzee to survive.     

Extraordinarily low bone mineral density in an old female chimpanzee (<Emphasis Type="Italic">Pan troglodytes schweinfurthii</Emphasis>) from the Mahale Mountains National Park

We examined bone mineral density (BMD) of the femoral neck and lumbar vertebrae of four chimpanzee skeletons from Mahale Mountains National Park, Tanzania, and four captive ones, with a dual energy X-ray absorptiometer. The BMD of Wansombo, an old female chimpanzee from Mahale , was remarkably lower than the mean of the other six younger adult female chimpanzees and categorized as osteoporosis. Posture, locomotion, and trunk-sacral anatomy of chimpanzees may have prevented fractures in Wansombo, whose BMD was below human osteoporosis criteria. Electronic Publication     

Metatarsal fusion pattern and developmental morphology of the Olduvai Hominid 8 foot: Evidence of adolescence

The morphology of the Olduvai Hominid (OH) 8 foot and the sequence of metatarsal epiphyseal fusion in modern humans and chimpanzees support the hypothesis that OH 8 belonged to an individual of approximately the same relative age as the OH 7 subadult, the holotype of Homo habilis. Modern humans and chimpanzees exhibit a variety of metatarsal epiphyseal fusion patterns, including one identical to that observed in OH 8 in which metatarsal 1 fuses before metatarsals 2-5. More than the metatarsal fusion sequence, however, the principal evidence of the youthful age of OH 8 lies in the morphology of metatarsals 1, 2, and 3. Because both OH 8 and OH 7 come from the same stratum at the FLK NN type site, the most parsimonious explanation of the OH 8 and OH 7 data is that this material belonged to the same individual, as originally proposed by Louis Leakey. The proposition that OH 8 belonged to an adult is unsupported by morphology, including radiographic evidence, and the fusion sequences in human and chimpanzee skeletal material reported here and in the literature.     

Sex differences in adult chimpanzee positional behavior: The influence of body size on locomotion and posture

Focal animal instantaneous sampling of adult male and female chimpanzee positional behavior was conducted during a 7-month study in the Tai Forest, Ivory Coast, in order to determine whether there are sex differences in the locomotion, posture, substrate use, and height preference of sexually dimorphic adult chimpanzees, and if so, whether these differences support predictions based on body size differences. Results indicate that as predicted, adult male and female chimpanzees differ in their arboreal locomotor behavior, with the larger males using less quadrupedalism and more climbing, scrambling, and aided bipedalism than females during feeding locomotion. There is a sex difference in height preference as well, with female chimpanzees consistently using more arboreal behavior than males, primarily during resting. Although it has been previously demonstrated that separate primate species of differing body size differ in locomotor and postural activities (Fleagle and Mittermeier, 1980; Crompton, 1984), this study clearly demonstrates that body size differences within a species can also be correlated with differences in locomotor behavior. These findings may influence how we interpret sex differences in body size of extinct species. © 1993 Wiley-Liss, Inc.     

Demographic parameters and life history of chimpanzees at Bossou, Guinea

Demographic parameters of wild chimpanzees at Bossou, Guinea, are presented and compared with those of other populations. The population size of Bossou chimpanzees has been stable over the last 26 years, except during two incidents of partial deforestation. The annual birth rate for a female (mean = 0.194, but 0.165 when the infant survived more than 4 years) and interbirth interval are not much different from those of other study sites. The primiparous age of Bossou chimpanzees, however, is far younger (mean = 10.9 years) than for all other known wild chimpanzee populations. The infant and juvenile survival rate is also the highest (female = 0.64, male = 0.52 for the first 8 years). As a result, the lifetime reproductive success of Bossou chimpanzees is estimated to be highest among long-term study sites. The rate of disappearance from Bossou dramatically increases during the adolescent stage, and most young chimpanzees disappear before or around maturation. Probably because the environmental capacity for chimpanzees at Bossou is at its limit, many young independent males, as well as females, have to disperse, though others may die. For chimpanzee alpha males of other populations, mature males may be needed as collaborators to defend resources. In the case of Bossou, however, a lack of adjacent groups, conspecific competitors, predators, and perhaps medium-sized mammals as prey for group hunting may eliminate this need of the alpha male for other males. The reasons why all males of other chimpanzee populations persist in being philopatric for life and maintain kin-related male bonds differing from most mammal species, including humans, are discussed.     

Comparing infant and juvenile behavior in bonobos (Pan paniscus) and chimpanzees (Pan troglodytes): a preliminary study

The dichotomy between the two Pan species, the bonobo (Pan paniscus) and chimpanzee (Pan troglodytes) has been strongly emphasized until very recently. Given that most studies were primarily based on adult individuals, we shifted the “continuity versus discontinuity” discussion to the infant and juvenile stage. Our aim was to test quantitatively, some conflicting statements made in literature considering species differences between immature bonobos and chimpanzees. On one hand it is suggested that infant bonobos show retardation in motor and social development when compared with chimpanzees. Additionally it is expected that the weaning process is more traumatic to chimpanzee than bonobo infants. But on the other hand the development of behaviors is expected to be very similar in both species. We observed eight mother–infant pairs of each species in several European zoos. Our preliminary research partially confirms that immature chimpanzees seem spatially more independent, spending more time at a larger distance from their mother than immature bonobos. However, the other data do not seem to support the hypothesis that bonobo infants show retardation of motor or social development. The development of solitary play, environmental exploration, social play, non-copulatory mounts and aggressive interactions do not differ between the species. Bonobo infants in general even groom other group members more than chimpanzee infants. We also found that older bonobo infants have more nipple contact than same aged chimpanzees and that the weaning process seems to end later for bonobos than for immature chimpanzee. Additionally, although immature bonobos show in general more signs of distress, our data suggest that the weaning period itself is more traumatic for chimpanzees.     

Center of mass mechanics of chimpanzee bipedal walking

Center of mass (CoM) oscillations were documented for 81 bipedal walking strides of three chimpanzees. Full‐stride ground reaction forces were recorded as well as kinematic data to synchronize force to gait events and to determine speed. Despite being a bent‐hip, bent‐knee (BHBK) gait, chimpanzee walking uses pendulum‐like motion with vertical oscillations of the CoM that are similar in pattern and relative magnitude to those of humans. Maximum height is achieved during single support and minimum height during double support. The mediolateral oscillations of the CoM are more pronounced relative to stature than in human walking when compared at the same Froude speed. Despite the pendular nature of chimpanzee bipedalism, energy recoveries from exchanges of kinetic and potential energies are low on average and highly variable. This variability is probably related to the poor phasic coordination of energy fluctuations in these facultatively bipedal animals. The work on the CoM per unit mass and distance (mechanical cost of transport) is higher than that in humans, but lower than that in bipedally walking monkeys and gibbons. The pronounced side sway is not passive, but constitutes 10% of the total work of lifting and accelerating the CoM. CoM oscillations of bipedally walking chimpanzees are distinctly different from those of BHBK gait of humans with a flat trajectory, but this is often described as “chimpanzee‐like” walking. Human BHBK gait is a poor model for chimpanzee bipedal walking and offers limited insights for reconstructing early hominin gait evolution. Am J Phys Anthropol 156:422–433, 2015. © 2014 Wiley Periodicals, Inc.     

Biomechanics and allometric scaling in primate locomotion and morphology

Body size has a dominant influence on locomotor performance and the morphology of the locomotor apparatus. In locomotion under the influence of gravity, body mass acts as weight force and is a mechanical variable. Accordingly, the application of biomechanical principles and methods allows a functional understanding of scaling effects in locomotion. This is demonstrated here using leaping primates as an example. With increasing body size, the decreasing ratio of muscle force available for acceleration during takeoff to the body mass that has to be accelerated dictates both the movement pattern and the proportions of the hindlimbs. In an arm-swinging movement, the long, heavy arms of the large-bodied leapers are effectively used to gain additional momentum. A new perspective on decreasing size identifies the absolutely small acceleration distance and time available for propulsion as factors limiting leaping distance and extensively determining locomotor behavior and body proportions. As the mechanical constraints differ according to body size for a given mode of locomotion, a typological approach to morphology in relation to locomotor category is ruled out. Across locomotor categories, dynamic similarity (sensu Alexander) can be expected if the propulsive mechanisms as well as the selective pressures acting upon locomotion are the same.