Design of an actuator with bionic claw hook-suction cup hybrid structure for soft robot.

To improve the adaptability of soft robots to the environment and achieve reliable attachment on various surfaces such as smooth and rough, this study draws inspiration from the collaborative attachment strategy of insects, cats, and other biological claw hooks and foot pads, and designs an actuator with a bionic claw hook-suction cup hybrid structure. The rigid biomimetic pop-up claw hook linkage mechanism is combined with a flexible suction cup of a 'foot pad' to achieve a synergistic adhesion effect between claw hook locking and suction cup adhesion through the deformation control of a soft pneumatic actuator. A pop-up claw hook linkage mechanism based on the principle of cat claw movement was designed, and the attachment mechanism of the biological claw hooks and footpads was analysed. An artificial muscle-spring-reinforced flexible pneumatic actuator (SRFPA) was developed and a kinematic model of the SRFPA was established and analysed using Abaqus. Finally, a prototype of the hybrid actuator was fabricated. The kinematic and mechanical performances of the SRFPA and entire actuator were characterised, and the attachment performance of the hybrid actuator to smooth and rough surfaces was tested. The results indicate that the proposed biomimetic claw hook-suction cup hybrid structure actuator is effective for various types of surface adhesion, object grasping, and robot walking. This study provides new insights for the design of highly adaptable robots and biomimetic attachment devices.

In situ determination of the extreme damage resistance behavior in stomatopod dactyl club.

The structure and mechanical properties of the stomatopod dactyl club have been studied extensively for its extreme impact tolerance, but a systematic in situ investigation on the multiscale mechanical responses under high-speed impact has not been reported. Here the full dynamic deformation and crack evolution process within projectile-impacted dactyl using combined fast 2D X-ray imaging and high-resolution ex situ tomography are revealed. The results show that hydration states can lead to significantly different toughening mechanisms inside dactyl under dynamic loading. A previously unreported 3D interlocking structural design in the impact surface and impact region is reported using nano X-ray tomography. Experimental results and dynamic finite-element modeling suggest this unique structure plays an important role in resisting catastrophic structural damage and hindering crack propagation. This work is a contribution to understanding the key toughening strategies of biological materials and provides valuable information for biomimetic manufacturing of impact-resistant materials in general.

The effect of horseshoes and surfaces on horse and jockey centre of mass displacements at gallop.

Horseshoes influence how horses' hooves interact with different ground surfaces, during the impact, loading and push-off phases of a stride cycle. Consequently, they impact on the biomechanics of horses' proximal limb segments and upper body. By implication, different shoe and surface combinations could drive changes in the magnitude and stability of movement patterns in horse-jockey dyads. This study aimed to quantify centre of mass (COM) displacements in horse-jockey dyads galloping on turf and artificial tracks in four shoeing conditions: 1) aluminium; 2) barefoot; 3) GluShu; and 4) steel. Thirteen retired racehorses and two jockeys at the British Racing School were recruited for this intervention study. Tri-axial acceleration data were collected close to the COM for the horse (girth) and jockey (kidney-belt), using iPhones (Apple Inc.) equipped with an iOS app (SensorLog, sample rate = 50 Hz). Shoe-surface combinations were tested in a randomized order and horse-jockey pairings remained constant. Tri-axial acceleration data from gallop runs were filtered using bandpass Butterworth filters with cut-off frequencies of 15 Hz and 1 Hz, then integrated for displacement using Matlab. Peak displacement was assessed in both directions (positive 'maxima', negative 'minima') along the cranio-caudal (CC, positive = forwards), medio-lateral (ML, positive = right) and dorso-ventral (DV, positive = up) axes for all strides with frequency ≥2 Hz (mean = 2.06 Hz). Linear mixed-models determined whether surfaces, shoes or shoe-surface interactions (fixed factors) significantly affected the displacement patterns observed, with day, run and horse-jockey pairs included as random factors; significance was set at p<0.05. Data indicated that surface-type significantly affected peak COM displacements in all directions for the horse (p<0.0005) and for all directions (p≤0.008) but forwards in the jockey. The largest differences were observed in the DV-axis, with an additional 5.7 mm and 2.5 mm of downwards displacement for the horse and jockey, respectively, on the artificial surface. Shoeing condition significantly affected all displacement parameters except ML-axis minima for the horse (p≤0.007), and all displacement parameters for the jockey (p<0.0005). Absolute differences were again largest vertically, with notable similarities amongst displacements from barefoot and aluminium trials compared to GluShu and steel. Shoe-surface interactions affected all but CC-axis minima for the jockey (p≤0.002), but only the ML-axis minima and maxima and DV-axis maxima for the horse (p≤0.008). The results support the idea that hoof-surface interface interventions can significantly affect horse and jockey upper-body displacements. Greater sink of hooves on impact, combined with increased push-off during the propulsive phase, could explain the higher vertical displacements on the artificial track. Variations in distal limb mass associated with shoe-type may drive compensatory COM displacements to minimize the energetic cost of movement. The artificial surface and steel shoes provoked the least CC-axis movement of the jockey, so may promote greatest stability. However, differences between horse and jockey mean displacements indicated DV-axis and CC-axis offsets with compensatory increases and decreases, suggesting the dyad might operate within displacement limits to maintain stability. Further work is needed to relate COM displacements to hoof kinematics and to determine whether there is an optimum configuration of COM displacement to optimise performance and minimise injury.

Losers can win: Thermoregulatory advantages of regenerated claws of fiddler crab males for establishment in warmer microhabitats.

Fiddler crab males present a hypertrophied claw, which is used for sexual and aggressive displays, fights with competitors, and has been proposed as an important thermoregulatory organ for heat control. Two claw morphologies can be observed within fiddler crab populations: brachychelous claws (unregenerated) and leptochelous claws (regenerated). The leptochelous morphotype presents less muscle mass and longer fingers, resulting in a less advantageous weapon in fights. Considering their slender shape, we hypothesized that the leptochelous morphotype would present lower thermal inertia and be more efficient at body heat dissipation. We evaluated the role of the fiddler crabs' claw shape as a heat sink and how this influences their distribution between unshaded and shaded microhabitats. We tested in the field whether the proportion of adult male Leptuca uruguayensis with leptochelous claws was higher in unshaded microhabitats than shaded ones. In the laboratory, we tested if heat transfer between the body and claw is higher in leptochelous males than in brachychelous males. Spontaneous waving behaviour and active time above the surface were compared between both morphotypes in the field during the hottest period of the day. Leptuca uruguayensis with regenerated claws comprised more than 60% of the sampled male population of unshaded microhabitats compared to 18% in shaded microhabitats. Leptochelous males showed a mean heat transfer between body to claw 35% higher than that observed for brachychelous males. During the hottest period of the day, brachychelous males waved approximately 28% more than leptochelous males. Moreover, brachychelous males spent less time under the sediment surface since the surface temperature increased, while activity of leptochelous males was not associated with a temperature increase. Therefore, regenerated claws may be advantageous for the establishment of L. uruguayensis males in warmer and unshaded microhabitats because they are more efficient for heat loss and allow crabs to cool down, spending less time waving. Our study shows the relevant context of winners and losers in the face of climate change and highlights the importance of morphological variations in thermoregulatory structures for the occupation of thermal niches.

Thermoregulation and heat exchange in ospreys (Pandion haliaetus).

The osprey (Pandion haliaetus) is a cosmopolitan and long-distant migrant, found at all thermal extremes ranging from polar to tropical climates. Since ospreys may have an unusually flexible thermal physiology due to their migration over, and use of, a wide range of habitats, they represent an interesting study system to explore thermoregulatory adaptations in a raptor. In this study, we investigated the efficiency of heat exchange between body and environment in ospreys using micro-computed tomography (µ-CT), infrared thermography and behavioral observations. µ-CT revealed that the osprey bill has its largest potential for heat exchange at the proximal bill region, where arteries are situated most closely under the surface. However, thermal images of 10 juvenile ospreys showed that the bill contributes to only 0.3% of the bird's total heat exchange. The long legs and protruding claws played a more prominent role as heat dissipation areas with a contribution of 6% and 7%, respectively. Operative thresholds, i.e. the ambient temperature below which heat is lost, were high (>38.5 °C) in these body parts. However, we found no indication of active regulation of heat exchange. Instead we observed multiple behavioral adaptations starting at relatively low ambient temperatures. At 26.3 °C ospreys had a 50% probability of showing panting behavior and above 27.9 °C they additionally spread their wings to enable heat dissipation from the less insulated ventral side. The thermal images revealed that at an ambient temperature of 32.1 °C ospreys had a 50% probability of developing a ≥2 °C and up to 7.5 °C colder stripe on the head, which was likely caused by cutaneous evaporation. Our observations suggest that ospreys more strongly rely on behavioral mechanisms than on active thermal windows to cope with heat stress. This study not only improves our understanding of the role of different body parts in ospreys' total heat exchange with the environment but further provides an insight about additional adaptations of this raptor to cope with heat stress.

Functional morphology of vertebrate claws investigated using functionally based categories and multiple morphological metrics.

The link between claw morphology and function has been historically difficult to quantify, analyze, and interpret. In this study, the functional morphology of vertebrate claws is analyzed using measurements taken from 80 modern claw specimens spanning birds, mammals, and one reptile. Claw measurements were chosen for their potential biomechanical significance and a revised, expanded categorization of claw function is defined and used. This categorization scheme is the result of an extensive literature review and is based on the observed mechanics of claw function rather than the animal's overall ecology, an important departure from the norm followed in previous studies. A principal component analysis of the claw measurements reveals that some of the morphological disparity is related to functional differences; however, different functional categories are not clearly separated based solely on morphology. A linear discriminant analysis successfully classifies 81.25% of the claw specimens to their documented functional categories. When the posterior probabilities of each classification are examined, and the next highest probabilities are considered, the analysis is able to successfully classify 96.25% of the claw specimens. Expressing angle measurements in terms of lengths prior to analysis and incorporating cross-sectional shape data both serve to reduce the misclassification rate. The use of biomechanically meaningful claw measurements and categories based on function (rather than ecology) improves confidence in the ability to infer claw function based on morphology using discriminant analysis methods. While overall claw morphology is most certainly the result of multiple factors (e.g., growth, size, etc.), this study establishes that it reflects mechanical function more than previously demonstrated.

Dynamic evaluation of toe-heel and medio-lateral load distribution and hoof landing patterns in sound, unshod Standardbred horses with toed-in, toed-out and normal hoof conformation.

Dynamic load distribution and landing patterns play an important role in equine orthopaedics. The aim of this study was to analyse dynamic load distribution and hoof landing patterns of sound Standardbreds. Twenty-four sound, unshod Standardbreds were walked and trotted over a pressure plate to obtain the peak vertical force (PVF), vertical impulse (VI) and stance time (ST) of both forelimbs. Asymmetry indices between both forelimbs were calculated and the dynamic medio-lateral and toe-heel load distribution of the forelimbs were compared between normal, toed-in and toed-out horses. The hoof landing patterns were determined on the first loaded zone. Linear mixed models and Chi-square analysis were used for statistical analysis (α = 0.05). At walk and trot, there were no significant differences in asymmetry of PVF, VI and ST between normal (n = 9/24 horses), toed-in (n = 6/24 horses), and toed-out horses (n = 9/24 horses). In both forelimbs, a flat landing (39.6% and 70.8% at walk and trot, respectively) predominated over all hoof conformations. No significant association between hoof conformation and landing pattern was observed (P > 0.05). Toed-out horses had significantly higher loading of the medial zone at the end of the stance phase at walk than normal horses (P = 0.002). No other statistically significant differences in load distribution were observed (P > 0.05). In conclusion, flat landing was more common in Standardbred horses than previously described in Warmbloods, emphasising the need for breed-specific clinical reference data and biomechanical studies. Moreover, mild deviations in hoof conformation did not necessarily affect load distribution.

[Changes in claw and leg health and hair cortisol concentration in dairy cows during the transition from tie-stall to free-stall housing - A study of a medium-sized farm]. / Veränderungen der Klauen- und Gliedmaßengesundheit sowie Haarkortisolkonzentration von Milchkühen bei der Umstellung von Anbinde- auf Laufstallhaltung.

OBJECTIVE: Claw health and carpal and tarsal lesions were assessed in a dairy herd during the transition from a tie-stall to a free-stall barn. The stress associated with the change in housing was also evaluated. MATERIALS AND METHODS: The initial size of the herd was 57 dairy cows, which were evaluated 4 times, 4-5 months apart, in a hoof-trimming chute. Claw horn and skin lesions of the foot were considered separately. The carpi and hocks were assessed for hair loss and skin lesions, and the hocks were also evaluated for swelling. Tail hair samples were collected from all cows during the second visit, and the cortisol concentration of 3 different sections of the hair was measured. RESULTS: The high prevalence of digital dermatitis and other skin lesions in the hind legs seen in the tie-stall barn (49 %) did not change significantly during the 14-month study period and was 46 % at the last visit. Heel horn erosions of the hind feet were rare in the tie-stall barn (14 %), but had a prevalence of 100 % at the end of the study. There was a trend for a decrease in the prevalence of other claw horn lesions. The prevalence and severity of carpal and hock lesions decreased significantly in the free-stall barn. Compared to values in cows at the tie-stall barn, the hair cortisol concentration was significantly higher during the transition period and at the free-stall barn. DISCUSSION AND CONCLUSIONS: The target variables were subjected to a multitude of factors but it can be assumed that the more comfortable lying surface in the free-stall barn had the most significant effect on carpal and tarsal joint health. The fluctuating prevalence of claw horn lesions indicates that claws health should be monitored closely. The increase in hair cortisol concentration after the transition to the free-stall barn could imply increased stress, but washout of cortisol in more distal hair segments could not be ruled out. CLINICAL RELEVANCE: The results of the present report cannot be directly applied to other herds; however, the significance of cow comfort is highlighted by the presence of fewer carpal and hock lesions. The significant increase in the prevalence of heel horn erosions indicates that the horn capsule is compromised under free-stall conditions.

Automatic hoof-on and -off detection in horses using hoof-mounted inertial measurement unit sensors.

For gait classification, hoof-on and hoof-off events are fundamental locomotion characteristics of interest. These events can be measured with inertial measurement units (IMUs) which measure the acceleration and angular velocity in three directions. The aim of this study was to present two algorithms for automatic detection of hoof-events from the acceleration and angular velocity signals measured by hoof-mounted IMUs in walk and trot on a hard surface. Seven Warmblood horses were equipped with two wireless IMUs, which were attached to the lateral wall of the right front (RF) and hind (RH) hooves. Horses were walked and trotted on a lead over a force plate for internal validation. The agreement between the algorithms for the acceleration and angular velocity signals with the force plate was evaluated by Bland Altman analysis and linear mixed model analysis. These analyses were performed for both hoof-on and hoof-off detection and for both algorithms separately. For the hoof-on detection, the angular velocity algorithm was the most accurate with an accuracy between 2.39 and 12.22 ms and a precision of around 13.80 ms, depending on gait and hoof. For hoof-off detection, the acceleration algorithm was the most accurate with an accuracy of 3.20 ms and precision of 6.39 ms, independent of gait and hoof. These algorithms look highly promising for gait classification purposes although the applicability of these algorithms should be investigated under different circumstances, such as different surfaces and different hoof trimming conditions.

Effect of shoeing conditions on hoof dimensions in Icelandic and Warmblood horses.

In Icelandic horses (ICE), high, long hooves with added weights are often used to improve gait quality in competitions. From a biomechanical point of view, excessively long hooves can be problematic as they increase forces acting on the distal limb. The study aimed to determine if hoof capsule size and angle of ICE at competitions are comparable to those of Warmblood horses (WB) requiring shoeing. Hoof dimensions and balance were quantified in 13 horses of each breed at the beginning of a shoeing period (BSP), allowing a baseline comparison between breeds, as well as for WB at the end of a shoeing period (ESP) and for ICE when shod for competition (COMP). Left front and hind hoof capsules and bony structures of the hooves were measured on lateromedial and dorsopalmar/dorsoplantar radiographs at BSP (ICE, WB), ESP (WB) and COMP (ICE), respectively, using the software Metron-Hoof-Pro. Compared to WBBSP, ICEBSP had larger hoof capsules relative to the size of P3 and, when controlled for withers height, longer dorsal hoof wall lengths. The comparison of ICECOMP to WBESP indicated that the relative increase in hoof length and volume was greater in ICECOMP compared to WBESP. Hoof balance was closer to previously published values in WBs, while hoof angles in ICE (particularly palmar/plantar angle of P3) were generally larger and thus less problematic. In conclusion, hooves of ICECOMP were relatively larger and less balanced than WBESP, but hoof angles in WB were smaller than in ICE.

Hoof conformation in Icelandic competition horses and its interrelationship with hoof pathologies and tölt performance.

In order to improve the four-beat-rhythm and forelimb action of the tölt in Icelandic horses (ICE), special shoeing techniques are applied particularly in the front hooves by increasing hoof length and height, or by adding weight to the distal limbs. Although regulations limit dorsal hoof wall length (LDHW) in competition ICE, their shoeing often deviates from a biomechanically optimal distal limb conformation. This study aimed to qualitatively and quantitatively describe current shoeing practices of ICE in competition. Moreover, the influence of LDHW on the occurrence of deviations from a standard hoof conformation, as well as on tölt performance was investigated. At four European competition sites, hoof dimensions of 133 randomly selected ICE were measured manually, and limb conformation and hoof balance were described. Dorsopalmar/-plantar and lateromedial radiographs of the left front and hind hooves were taken of each horse. Various parameters related to hoof dimensions and balance were measured on radiographs using the Metron-Hoof-Pro software. Flares of the dorsal hoof wall had the highest prevalence of all investigated hoof deformities. Multiple logistic regression analysis revealed that longer LDHW was associated with the occurrence of toe flares (P = 0.045), a broken hoof pastern axis (P = 0.003), and asymmetry of the quarter wall heights (P = 0.015). However, horses with a longer LDHW achieved higher scores in competition. In spite of its positive effect on tölt performance, a long LDHW is not recommendable as it may be associated with a higher prevalence of certain hoof deformities.

Benefits and risks of barefoot harness racing in Standardbred trotters.

There is a lack of research on the benefits and risks of shoeing conditions in harness racing. Thus, our objectives were to: (a) investigate whether velocity times (VT; s/km) are affected by racing unshod (N = 76,932 records on 5,247 horses); (b) determine the potential risks of galloping, being penalized, and disqualification when competing unshod (N = 111,755 records on 6,423 horses); and (c) identify additional environmental factors that affect VT and risks. VT was found to be significantly influenced by shoeing condition (e.g., unshod, shod front, shod hind, or fully shod), but also by sex, age, season, track, track condition, start method, start position, distance, and driver-horse performance level (p < 2e-16). The risks of galloping and disqualification were significantly influenced by shoeing condition, sex, age, season, track, start method, start position, or driver-horse performance level (p ≤ .05). Horses racing unshod had 0.7 s/km lower VT than fully shod horses and showed better performance when racing on neutral tracks during the late summer than horses with other shoeing conditions during the same period. However, racing unshod increased the relative risks of galloping and disqualification by 15%-35% in all seasons. Horses shod only on the hind hooves showed better performance than fully shod horses, without higher risks associated with competing unshod.

Hind limb conformation has limited influence on claw load distribution in dairy cows.

The high prevalence of claw lesions in dairy cows necessitates the investigation and hopefully elimination of factors involved in the etiology and pathogenesis of these disorders. Indirect genetic selection for specific conformation traits in feet and legs has been evaluated as a means of improving claw health but to date has not been successful. Claw disorders are commonly discussed in context with unequal claw load, and thus this study was designed to investigate the relationship between hind limb conformation and the load exerted on the respective claws. A total of 36 cows were divided into 3 groups of 12 based on the presence of parallel, straight, and cow-hocked hind limb conformation. The vertical ground reaction forces, claw prints, and mean and maximum pressures under the claws were measured in these cows before and after claw trimming. The principal characteristic of all 3 conformation traits was a significantly higher load on the lateral claws compared with the medial claws, which was least severe in cow-hocked cows. After functional foot trimming, the claws of the cows with straight conformation tended to have the most pronounced disproportion between the loads of the paired claws. Considering that a significantly higher load on the lateral claws occurred with all 3 conformations, the potential for improvement of claw health by means of indirect genetic selection for specific hind limb traits appears limited.

Automatic detection of break-over phase onset in horses using hoof-mounted inertial measurement unit sensors.

A prolonged break-over phase might be an indication of a variety of musculoskeletal disorders and can be measured with optical motion capture (OMC) systems, inertial measurement units (IMUs) and force plates. The aim of this study was to present two algorithms for automatic detection of the break-over phase onset from the acceleration and angular velocity signals measured by hoof-mounted IMUs in walk and trot on a hard surface. The performance of these algorithms was evaluated by internal validation with an OMC system and a force plate separately. Seven Warmblood horses were equipped with two wireless IMUs which were attached to the lateral wall of the right front (RF) and hind (RH) hooves. Horses were walked and trotted over a force plate for internal validation while simultaneously the 3D position of three reflective markers, attached to lateral heel, lateral toe and lateral coronet of each hoof, were measured by six infrared cameras of an OMC system. The performance of the algorithms was evaluated by linear mixed model analysis. The acceleration algorithm was the most accurate with an accuracy between -9 and 23 ms and a precision around 24 ms (against OMC system), and an accuracy between -37 and 20 ms and a precision around 29 ms (against force plate), depending on gait and hoof. This algorithm seems promising for quantification of the break-over phase onset although the applicability for clinical purposes, such as lameness detection and evaluation of trimming and shoeing techniques, should be investigated more in-depth.

Effects of hair coat characteristics on radiant surface temperature in horses.

Horse owners may lack knowledge about natural thermoregulation mechanisms in horses. Horses are managed intensively; usually stabled at night and turned out during the day. Some are clipped and many wear a blanket, practices which reduce the horse's ability to regulate heat dissipation. The aim of this study was to investigate the relationship between hair coat characteristics, body condition and infrared surface temperatures from different body parts of horses. Under standard conditions, the body surface temperature of 21 adult horses were investigated using infrared thermography. From several readings on the same body part, a mean temperature was calculated for each body part per horse. Detailed information on horse breed, age, management and body condition was collected. Hair coat samples were also taken for analyses. A mixed statistical model was applied. Warmblood horse types (WB) had lower hair coat sample weights and shorter hair length than coldblood horse types (CB). The highest radiant surface temperatures were found at the chest 22.5 ± 0.9 °C and shoulders 20.4 ± 1.1 °C and WB horses had significantly higher surface temperatures than CB horses on the rump (P < 0.05). Horses with a higher hair coat sample weight had a lower surface temperature (P < 0.001) and hind hooves with iron shoes had a significant lower surface temperature than unshod hind hooves (P = 0.03). In conclusion, individual assessment of radiant surface temperature using infrared thermography might be a promising tool to gather data on heat loss from the horses' body. Such data may be important for management advice, as the results showed individual differences in hair coat characteristics and body condition in horses of similar breeds.

Kinetic effect of different ground conditions on the sole of the claws of standing and walking dairy cows.

For the first time, we analyzed the direct kinetic effects of concrete and rubber flooring on the soles of live dairy cows' claws while standing and walking. Ten adult dairy cows were equipped with foil-based pressure sensors (HoofSystem, Tekscan Inc., Boston, MA) under their left hind leg using a leather claw shoe. These sensors captured parameters of pressure distribution and vertical ground reaction forces while the cows walked on the 2 tested flooring types. The mean pressure was 15.1 to 21.1% lower on rubber flooring compared with concrete; mean pressure values (± standard deviation) were 36.32 ± 7.77 N/cm2 for static measures and 57.33 ± 11.77 N/cm2 for dynamic measures. We observed an even more obvious relief on rubber flooring in the maximum pressure loads, which were 30.1 to 32.7% lower on rubber flooring compared with concrete; mean pressure values (± standard deviation) were 98.79 ± 14.49 N/cm2 for static measures and 150.45 ± 20.87 N/cm2 for dynamic measures). The force-time curves of the dynamic measures essentially showed biphasic curve progression, with local peaks at 29 and 79% of the stance phase. However, we found considerable differences in curve progression between individuals and between the lateral and medial claws, which may be verified in further investigations with more animals. The study showed a noticeable reduction in mechanical load during standing and walking on rubber flooring compared with concrete.

Physics of animal health: on the mechano-biology of hoof growth and form.

Global inequalities in economic access and agriculture productivity imply that a large number of developing countries rely on working equids for transport/agriculture/mining. Therefore, the understanding of hoof conditions/shape variations affecting equids' ability to work is still a persistent concern. To bridge this gap, using a multi-scale interdisciplinary approach, we provide a bio-physical model predicting the shape of equids' hooves as a function of physical and biological parameters. In particular, we show (i) where the hoof growth stress originates from, (ii) why the hoof growth rate is one order of magnitude higher than the proliferation rate of epithelial cells and (iii) how the soft-to-hard transformation of the epithelium is possible allowing the hoof to fulfil its function as a weight-bearing element. Finally (iv), we demonstrate that the reason for hoof misshaping is linked to the asymmetrical design of equids' feet (shorter quarters/long toe) together with the inability of the biological growth stress to compensate for such an asymmetry. Consequently, the hoof can adopt a dorsal curvature and become 'dished' overtime, which is a function of the animal's mass and the hoof growth rate. This approach allows us to discuss the potential occurrence of this multifaceted pathology in equids.

Attachment Beyond the Adhesive System: The Contribution of Claws to Gecko Clinging and Locomotion.

Attachment is imperative for many biological functions, such as holding position and climbing, but can be challenged by natural conditions. Adhesive toe pads and claws have evolved in multiple terrestrial lineages as important dynamic attachment mechanisms, and some clades (e.g., geckos) exhibit both features. The functional relationship of these features that comprise a complex attachment system is not well-understood, particularly within lizards (i.e., if pads and claws are redundant or multifunctional). Geckos exhibit highly adept frictional adhesive toe pads that continue to fuel biological inquiry and inspiration. However, gecko claws (the ancestral lizard clinging condition) have received little attention in terms of their functional or evolutionary significance. We assessed claw function in Thecadactylus rapicauda using assays of clinging performance and locomotor trials on different surfaces (artificial and natural) and inclines with claws intact, then partially removed. Area root mean square height (Sq), a metric of 3D surface roughness, was later quantified for all test surfaces, including acrylic, sandpaper, and two types of leaves (smooth and hairy). Maximum clinging force significantly declined on all non-acrylic surfaces after claw removal, indicating a substantial contribution to static clinging on rough and soft surfaces. With and without claws, clinging force exhibited a negative relationship with Sq. However, claw removal had relatively little impact on locomotor function on surfaces of different roughness at low inclines (≤30°). High static and dynamic safety factor estimates support these observations and demonstrate the species' robust frictional adhesive system. However, maximum station-holding capacity significantly declined on the rough test surface after partial claw removal, showing that geckos rely on their claws to maintain purchase on rough, steeply inclined surfaces. Our results point to a context-dependent complex attachment system within geckos, in which pads dominate on relatively smooth surfaces and claws on relatively rough surfaces, but also that these features function redundantly, possibly synergistically, on surfaces that allow attachment of both the setae and the claw (as in some insects). Our study provides important novel perspectives on gecko attachment, which we hope will spur future functional studies, new evolutionary hypotheses, and biomimetic innovation, along with collaboration and integration of perspectives across disciplines.

Raptor talon shape and biomechanical performance are controlled by relative prey size but not by allometry.

Most birds of prey (raptors), rely heavily on their talons for capturing prey. However, the relationship between talon shape and the ability to take prey is poorly understood. In this study we investigate whether raptor talons have evolved primarily in response to adaptive pressures exerted by different dietary demands, or if talon morphology is largely constrained by allometric or phylogenetic factors. We focus on the hallux talon and include 21 species in total varying greatly in body mass and feeding ecology, ranging from active predation on relatively large prey to obligate scavenging. To quantify the variation in talon shape and biomechanical performance within a phylogenetic framework, we combined three dimensional (3D) geometric morphometrics, finite element modelling and phylogenetic comparative methods. Our results indicate that relative prey size plays a key role in shaping the raptorial talon. Species that hunt larger prey are characterised by both distinct talon shape and mechanical performance when compared to species that predate smaller prey, even when accounting for phylogeny. In contrast to previous results of skull-based analysis, allometry had no significant effect. In conclusion, we found that raptor talon evolution has been strongly influenced by relative prey size, but not allometry and, that talon shape and mechanical performance are good indicators of feeding ecology.

Can the hoof be shod without limiting the heel movement? A comparative study between barefoot, shoeing with conventional shoes and a split-toe shoe.

Conventional shoeing restricts heel movement, which may have a negative effect on the orthopaedic health of the horse. A randomised crossover experimental study using noninvasive techniques was performed to compare the mediolateral heel movement in barefoot horses, horses shod with a conventional toe clipped shoe and with a new type of shoe with a split toe. In eight horses, 16 forelimbs were tested barefoot, shod with a conventional shoe and with the split-toe (ST) shoe, in random order. A displacement sensor was secured on the heels and measurements were collected continuously at a frequency of 679Hz while horses were exercised on a treadmill at the walk (1.8m/s), trot (3.5m/s) and canter (8m/s). Differences in heel movement between the conditions were analysed using a generalised estimating equations approach. The conventional shoe was associated with significantly less heel expansion compared with the ST shoe and barefoot situation in all gaits (P≤0.001). Heel expansion with the ST shoe was not significantly different from the barefoot condition. For all gaits, shoeing was associated with a significant reduction in heel contraction compared with the barefoot situation (P≤0.038), except for the heel contraction at the canter using a conventional shoe. In conclusion, the heel expansion with the ST shoe did not differ significantly from when the horse was barefoot, in contrast with the significant restriction of the heel movement when a conventional shoe was used.