Energy expenditure of bipedal walking is higher than that of quadrupedal walking in Japanese macaques.

The authors previously compared energetic costs of bipedal and quadrupedal walking in bipedally trained macaques used for traditional Japanese monkey performances (Nakatsukasa et al. 2004 Am. J. Phys. Anthropol. 124:248-256). These macaques used inverted pendulum mechanics during bipedal walking, which resulted in an efficient exchange of potential and kinetic energy. Nonetheless, energy expenditure during bipedal walking was significantly higher than that of quadrupedal walking. In Nakatsukasa et al. (2004 Am. J. Phys. Anthropol. 124:248-256), locomotor costs were measured before subjects reached a steady state due to technical limitations. The present investigation reports sequential changes of energy consumption during 15 min of walking in two trained macaques, using carbon dioxide production as a proxy of energy consumption, as in Nakatsukasa et al. (2004 Am. J. Phys. Anthropol. 124:248-256). Although a limited number of sessions were conducted, carbon dioxide production was consistently greater during bipedal walking, with the exception of some irregularity during the first minute. Carbon dioxide production gradually decreased after 1 min, and both subjects reached a steady state within 10 min. Energy expenditure during bipedalism relative to quadrupedalism differed between the two subjects. It was considerably higher (140% of the quadrupedal walking cost) in one subject who walked with more bent-knee, bent-hip gaits. This high cost strongly suggests that ordinary macaques, who adopt further bent-knee, bent-hip gaits, consume a far greater magnitude of energy during bipedal walking.

Energetic costs of bipedal and quadrupedal walking in Japanese macaques.

We investigated the energetic costs of quadrupedal and bipedal walking in two Japanese macaques. The subjects were engaged in traditional bipedal performance for years, and are extremely adept bipeds. The experiment was conducted in an airtight chamber with a gas analyzer. The subjects walked quadrupedally and bipedally at fixed velocities (<5 km/hr) on a treadmill in the chamber for 2.5-6 min. We estimated energy consumption from carbon dioxide (CO2) production. While walking bipedally, energetic expenditure increased by 30% relative to quadrupedalism in one subject, and by 20% in another younger subject. Energetic costs increased linearly with velocity in quadrupedalism and bipedalism, with bipedal/quadrupedal ratios remaining almost constant. Our experiments were relatively short in duration, and thus the observed locomotor costs may include presteady-state high values. However, there was no difference in experimental duration between bipedal and quadrupedal trials. Thus, the issue of steady state cannot cancel the difference in energetic costs. Furthermore, we observed that switching of locomotor mode (quadrupedalism to bipedalism) during a session resulted in a significant increase of CO2 production. Taylor and Rowntree ([1973] Science 179:186-187) noted that the energetic costs for bipedal and quadrupedal walking were the same in chimpanzees and capuchin monkeys. Although the reason for this inconsistency is not clear, species-specific differences should be considered regarding bipedal locomotor energetics among nonhuman primates. Extra costs for bipedalism may not be great in these macaques. Indeed, it is known that suspensory locomotion in Ateles consumes 1.3-1.4 times as much energy relative to quadrupedal progression. This excess ratio surpasses the bipedal/quadrupedal energetic ratios in these macaques.

The human vestibulo-ocular reflex during linear locomotion.

During locomotion, there is a translation and compensatory rotation of the head in both the vertical and horizontal planes. During moderate to fast walking (100 m/min), vertical head translation occurs at the frequency of stepping (2 Hz) and generates peak linear acceleration of 0.37 g. Lateral head translation occurs at the stride frequency (1 Hz) and generates peak linear acceleration of 0.1 g. Peak head pitch and yaw angular velocities are approximately 17 degrees/s. The frequency and magnitude of these head movements are within the operational range of both the linear and angular vestibulo-ocular reflex (IVOR and aVOR). Vertical eye movements undergo a phase reversal from near to far targets. When viewing a far (>1 m) target, vertical eye velocity is typical of an aVOR response; that is, it is compensatory for head pitch. At close viewing distances (<1 m), vertical eye velocity is in phase with head pitch and is compensatory for vertical head translation, suggesting that the IVOR predominantly generates the eye movement response. Horizontal head movements during locomotion occur at the stride frequency of 1 Hz, where the IVOR gain is low. Horizontal eye movements are compensatory for head yaw at all viewing distances and are likely generated by the aVOR.

Biomechanical analysis of vertical climbing in the spider monkey and the Japanese macaque.

Climbing is one of the most important components of primate locomotor modes. We previously reported that the kinesiological characteristics of vertical climbing by the spider monkey and Japanese macaque are clearly different, based on their kinetics and kinematics. In this study, a more detailed analysis using inverse dynamics was conducted to estimate the biomechanical characteristics of vertical climbing in the spider monkey and Japanese macaque. One of the main findings was the difference in forelimb use by the two species. The results of a joint moment analysis and estimates of muscular force indicate that the spider monkey uses its forelimbs to keep the body close to the substrate, rather than to generate propulsion. The forelimb of the Japanese macaque, on the other hand, likely contributes more to propulsion. This supports the idea that "forelimb-hindlimb differentiation" is promoted in the spider monkey. The estimated muscular force also suggests that the spider monkey type of climbing could develop the hindlimb extensor muscles, which are important in bipedal posture and walking. As a result, we conclude that the spider monkey type of climbing could be functionally preadaptive for human bipedalism. This type of climbing would develop the hip and knee extensor muscles, and result in more extended lower limb joints, a more erect trunk posture, and more functionally differentiated fore- and hindlimbs, all of which are important characteristics of human bipedalism.

Effect of viewing distance on the generation of vertical eye movements during locomotion.

Vertical head and eye coordination was studied as a function of viewing distance during locomotion. Vertical head translation and pitch movements were measured using a video motion analysis system (Optotrak 3020). Vertical eye movements were recorded using a video-based pupil tracker (Iscan). Subjects (five) walked on a linear treadmill at a speed of 1.67 m/s (6 km/h) while viewing a target screen placed at distances ranging from 0.25 to 2.0 m at 0. 25-m intervals. The predominant frequency of vertical head movement was 2 Hz. In accordance with previous studies, there was a small head pitch rotation, which was compensatory for vertical head translation. The magnitude of the vertical head movements and the phase relationship between head translation and pitch were little affected by viewing distance, and tended to orient the naso-occipital axis of the head at a point approximately 1 m in front of the subject (the head fixation distance or HFD). In contrast, eye velocity was significantly affected by viewing distance. When viewing a far (2-m) target, vertical eye velocity was 180 degrees out of phase with head pitch velocity, with a gain of 0. 8. This indicated that the angular vestibulo-ocular reflex (aVOR) was generating the eye movement response. The major finding was that, at a close viewing distance (0.25 m), eye velocity was in phase with head pitch and compensatory for vertical head translation, suggesting that activation of the linear vestibulo-ocular reflex (lVOR) was contributing to the eye movement response. There was also a threefold increase in the magnitude of eye velocity when viewing near targets, which was consistent with the goal of maintaining gaze on target. The required vertical lVOR sensitivity to cancel an unmodified aVOR response and generate the observed eye velocity magnitude for near targets was almost 3 times that previously measured. Supplementary experiments were performed utilizing body-fixed active head pitch rotations at 1 and 2 Hz while viewing a head-fixed target. Results indicated that the interaction of smooth pursuit and the aVOR during visual suppression could modify both the gain and phase characteristics of the aVOR at frequencies encountered during locomotion. When walking, targets located closer than the HFD (1.0 m) would appear to move in the same direction as the head pitch, resulting in suppression of the aVOR. The results of the head-fixed target experiment suggest that phase modification of the aVOR during visual suppression could play a role in generating eye movements consistent with the goal of maintaining gaze on targets closer than the HFD, which would augment the lVOR response.

Effects of walking velocity on vertical head and body movements during locomotion.

Trunk and head movements were characterized over a wide range of walking speeds to determine the relationship between stride length, stepping frequency, vertical head translation, pitch rotation of the head, and pitch trunk rotation as a function of gait velocity. Subjects (26-44 years old) walked on a linear treadmill at velocities of 0.6-2.2 m/s. The head and trunk were modeled as rigid bodies, and rotation and translation were determined using a video-based motion analysis system. At walking speeds up to 1.2 m/s there was little head pitch movement in space, and the head pitch relative to the trunk was compensatory for trunk pitch. As walking velocity increased, trunk pitch remained approximately invariant, but a significant head translation developed. This head translation induced compensatory head pitch in space, which tended to point the head at a fixed point in front of the subject that remained approximately invariant with regard to walking speed. The predominant frequency of head translation and rotation was restricted to a narrow range from 1.4 Hz at 0.6 m/s to 2.5 Hz at 2.2 m/s. Within the range of 0.8-1.8 m/s, subjects tended to increase their stride length rather than step frequency to walk faster, maintaining the predominant frequency of head movement at close to 2.0 Hz. At walking speeds above 1.2 m/s, head pitch in space was highly coherent with, and compensatory for, vertical head translation. In the range 1.2-1.8 m/s, the power spectrum of vertical head translation was the most highly tuned, and the relationship between walking speed and head and trunk movements was the most linear. We define this as an optimal range of walking velocity with regard to head-trunk coordination. The coordination of head and trunk movement was less coherent at walking velocities below 1.2 m/s and above 1.8 m/s. These results suggest that two mechanisms are utilized to maintain a stable head fixation distance over the optimal range of walking velocities. The relative contribution of each mechanism to head orientation depends on the frequency of head movement and consequently on walking velocity. From consideration of the frequency characteristics of the compensatory head pitch, we infer that compensatory head pitch movements may be produced predominantly by the angular vestibulocollic reflex (aVCR) at low walking speeds and by the linear vestibulocollic reflex (1VCR) at the higher speeds.

Volumetric comparisons in the cerebellar complex of anthropoids, with special reference to locomotor types.

Seven measurements in the cerebellar complex were completed on 45 individuals, including 26 species of anthropoids from Stephan's collection. These included 12 species of New World monkeys, 10 species of Old World monkeys, and Hylobates, Gorilla, Pan, and humans. The measurements were the volume of medial (fastigial) (CM), interpositus (globose and emboliform) (CI), and lateral (dentate) (CL) cerebellar nuclei, ventral pons (VPo), inferior olivary principal (OLIPr), and accessory (OLIAc) nuclei and vestibular nuclear complex (VES). The relative size of each nucleus was expressed in size indices based upon the allometric line obtained by the reduced major axis analysis. The indices of three cerebellar nuclei reflect the relative size of three longitudinal zones of the cerebellum. The cerebellar hemisphere-lateralis zone is represented by the CL indices, the vermis-medialis zone by the CM indices, and the pars intermedius-interpositus zone by the CI indices. The results show that the VPo and OLIPr indices are closely related to the CL indices. This lateral zone group of nuclei is the most progressively developed in humans, whereas the CM, CI, OLIAc, and VES are independent of the developmental trend manifest by the lateral zone group of nuclei. The indices are discussed in relation to the predominant locomotor pattern exhibited by a species. The size indices of arboreal quadrupeds show a development of all nuclei in the cerebellar complex. This is interpreted as indicating that arboreal monkeys live in complicated, discontinuous, three-dimensional space and need exceptional cerebellar capacity for each pattern of locomotion and positional behavior. Progressive development of the lateral zone group of nuclei only compared to other nuclei was recognizable in humans. This development is considered to be related not to bipedalism, but to versatile and coordinated finger movement, resulting after bipedalism was established. This cerebellar reorganization is also a prerequisite (Leiner et al. [1993] TINS 16: 444-447) for the evolution of human language. The differences between size indices of the nuclei of Macaca (= pronograde primate) and Ateles (= antipronograde one) are compared in relation to their vertical climbing kinesiological data.

3D analysis of human locomotion before and after caloric stimulation.

Human locomotion was analysed in the sagittal and coronal planes using a position detector system composed of 2 infrared video cameras and a data processor. Normal healthy volunteers with 8 marker points on the body were asked to walk in place (WIP) and on a treadmill (WOT). Vertical and medial/lateral (M/L) translational movements were measured. Head angular movements in the sagittal (pitch) and coronal (roll) planes were also analysed. Pitch movements counteracted the vertical head movements. Head movement was remarkably attenuated in the vertical axis compared with that of the trunk. However, head M/L movement showed no difference with that of the lower part of the body. Ice water caloric stimulation was introduced to cause acute unilateral vestibular deficit. The stride length and step cycle became small after caloric stimulation in WOT, but not in WIP. The characteristic change in locomotive pattern was a large lateral sway of the hip joint occurring to the side away from calorization (right) during one foot standing (right foot) (t-test, p = 0.057). Measurement of M/L sway amplitude showed an increase only at the hip joint. As the changes in head and neck movements were not significant after caloric stimulation, it appears that the vestibulo-spinal reflex contributes little to maintaining the dynamic balance of the upper body. The importance of the hip joint for locomotion (hip strategy) was confirmed from the present data.

Slowing of peripheral motor nerve conduction was ameliorated by aminoguanidine in streptozocin-induced diabetic rats.

The aims of this study were to investigate the effect of aminoguanidine (AG) on slowing of motor nerve conduction velocity (MNCV) of the sciatic nerve in streptozocin-induced diabetic rats and to assess its mechanism of action. The MNCV of the sciatic nerve was measured electrophysiologically in diabetic rats treated with and without AG for 16 weeks. To elucidate the action of AG, morphological lesion and abnormality of polyol pathway metabolism in the nerve were examined and tissue levels of advanced glycosylation end-products (AGE) were determined as an indicator of AGE accumulation in tissue. Diabetic rats were treated with AG at three doses of 10, 25 and 50 mg/kg for 16 weeks. Myelinated fiber morphometry and nerve Na+,K(-)-ATPase activity were determined. The AGE levels in renal cortex were measured by a specific ELISA. Aminoguanidine dose-dependently ameliorated slowing of MNCV 16 weeks after the treatment without changing body weight or blood glucose levels. No difference in myelinated fiber morphometry or Na+,K(+)-ATPase activity with or without AG treatment was detected in diabetic rats. Diabetes increased the AGE level in the renal cortex by six times compared to non-diabetic rats, and AG reduced the rise in the AGE level by 40%. The MNCV was inversely correlated with the AGE levels. We conclude that improvement of conduction slowing by AG in experimental diabetes may be through decreasing the AGE level in the peripheral tissues. Aminoguanidine may have a therapeutic potential in controlling diabetic peripheral neuropathy.

Organization of the epaxial muscles in terrestrial and arboreal primates.

The erector spinae muscles of the patas monkey hamadryas baboon, and spider monkey were dissected and the origins and insertions were described in detail. In the two terrestrial monkeys, a well-developed thoracolumbar segment of the muscle was observed. This trait seems to correlate to the sagittal movement of this region required in the pronograde quadrupedal locomotion. On the other hand, the erector spinae muscle of the spider monkey is quantitatively not so well developed and the arrangement of the muscle bundles was simpler than in the terrestrial monkeys. The arboreal habit of the spider monkey seems not to demand powerful extension in the thoracolumbar junction, and spinal rotation seems to be more important.

Comparison of locomotor patterns and the cerebellar complex in Ateles and Macaca.

Kinetics and kinematics of the quadrupedal walking of Ateles and Macaca were studied, and the results were compared with those of vertical climbing. Macaca seems to use similar strategies for locomotion in climbing and walking horizontally, whereas Ateles apparently changes strategies. Next, volumetric comparisons of three cerebellar nuclei (M, I, L), the ventral pons (VP), the inferior olivary principal (Pr) and accessory (Ac) nuclei, and the vestibular nuclear complex (VES) were made by using size indices of each nucleus. Higher values are recognized clearly in the medial zone group (M, Ac, VES) of Macaca, whereas almost similar values are shown to exist in the lateral zone group (L, Pr, VP) of both species. Relationships between the kinesiological results and the development of the cerebellar system are discussed.

Analysis of head and body movements of elderly people during locomotion.

In order to elucidate the effect of aging on head and limb motions, 10 young and 8 elderly normal subjects were studied kinesiologically during i) walking, ii) stepping, and iii) hopping, with their eyes open or closed. For this study, a 16-mm high-speed cinecamera and accelerometers were used. Analysis of head movements showed that pitch rotation seemed to counteract the translational movement in the sagittal plane. Although this phenomenon was observed in both the young and elderly groups, the mean pitch position of the head, as measured by the cantho-meatal line relative to the horizontal line, was larger for the elderly group, while head acceleration of elderly people showed a higher frequency in the power spectrum. With eyes closed, the head tended to be tilted downward.