Data from: Functional morphology of a lobopod: case study of an onychophoran leg

Segmental, paired locomotory appendages are a characteristic feature of
Panarthropoda — a diversified clade of moulting animals that includes
onychophorans (velvet worms), tardigrades (water bears), and arthropods.
While arthropods acquired a sclerotised exoskeleton and articulated limbs,
onychophorans and tardigrades possess a soft body and unjointed limbs
called lobopods, which they inherited from Cambrian lobopodians. To date,
the origin and ancestral structure of the lobopods and their
transformation into the jointed appendages are all poorly understood. We
therefore combined high-resolution computed tomography with high-speed
camera recordings to characterise the functional anatomy of a trunk
lobopod from the onychophoran Euperipatoides rowelli. Three-dimensional
reconstruction of the complete set of muscles and muscle fibres as well as
non-muscular structures revealed the spatial relationship and relative
volumes of the muscular, excretory, circulatory, and nervous systems
within the leg. Locomotory movements of individual lobopods of E. rowelli
proved far more diverse than previously thought and might be governed by a
complex interplay of fifteen muscles, including one promotor, one remotor,
one levator, one retractor, two depressors, two rotators, one flexor and
two constrictors as well as muscles for stabilisation and haemolymph
control. We discuss the implications of our findings for understanding the
evolution of locomotion in panarthropods.