The modern padded horse collar — appearing in Western Europe around the ninth century — that multiplied a horse's effective pulling power by four or five and made medieval European urbanization possible.
Before the padded horse collar, European horses were harnessed with a throat-and-girth arrangement adapted from the ox yoke. The arrangement was catastrophically ill-suited to equine anatomy: the strap pressed against the trachea and jugular veins precisely when the horse exerted itself, restricting breathing and blood flow under load. The padded collar transferred the pulling force from the throat to the shoulders, where the horse's skeletal structure could bear it without restricting airflow. The mechanical change was trivial — a different shape of leather and padding. The productive change was a factor of four to five. A horse in a modern collar could pull what had previously required multiple oxen, and pull it faster. The ratio change cascaded through medieval European agriculture, settlement, and eventually urbanization.