The vast majority of vertebrate species living today, including humans, belong to the jawed vertebrate group. The development of articulating jaws during vertebrate evolution was one of the most significant evolutionary transitions from jawless to jawed vertebrates, taking place at least 423 million years ago. The lower and upper jaws were initially connected by the primary jaw joint. However, during the evolution of mammals, this moved to the middle ear to enhance hearing and was replaced by the secondary jaw joint, which is how humans are constructed today.
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Source: Phys.org