by Keyword: Locomotion
Zhang K, Klingner A, Le Gars Y, Misra S, Magdanz V, Khalil ISM, (2023). Locomotion of bovine spermatozoa during the transition from individual cells to bundles Proceedings Of The National Academy Of Sciences Of The United States Of America 120, e2211911120
Various locomotion strategies employed by microorganisms are observed in complex biological environments. Spermatozoa assemble into bundles to improve their swimming efficiency compared to individual cells. However, the dynamic mechanisms for the formation of sperm bundles have not been fully characterized. In this study, we numerically and experimentally investigate the locomotion of spermatozoa during the transition from individual cells to bundles of two cells. Three consecutive dynamic behaviors are found across the course of the transition: hydrodynamic attraction/repulsion, alignment, and synchronization. The hydrodynamic attraction/repulsion depends on the relative orientation and distance between spermatozoa as well as their flagellar wave patterns and phase shift. Once the heads are attached, we find a stable equilibrium of the rotational hydrodynamics resulting in the alignment of the heads. The synchronization results from the combined influence of hydrodynamic and mechanical cell-to-cell interactions. Additionally, we find that the flagellar beat is regulated by the interactions during the bundle formation, whereby spermatozoa can synchronize their beats to enhance their swimming velocity.
JTD Keywords: Collective locomotion, Flagellar propulsion, Spermatozoa bundle
Dias JMS, Estima D, Punte H, Klingner A, Marques L, Magdanz V, Khalil ISM, (2022). Modeling and Characterization of the Passive Bending Stiffness of Nanoparticle-Coated Sperm Cells using Magnetic Excitation Advanced Theory And Simulations 5, 2100438
Of all the various locomotion strategies in low- (Formula presented.), traveling-wave propulsion methods with an elastic tail are preferred because they can be developed using simple designs and fabrication procedures. The only intrinsic property of the elastic tail that governs the form and rate of wave propagation along its length is the bending stiffness. Such traveling wave motion is performed by spermatozoa, which possess a tail that is characterized by intrinsic variable stiffness along its length. In this paper, the passive bending stiffness of the magnetic nanoparticle-coated flagella of bull sperm cells is measured using a contactless electromagnetic-based excitation method. Numerical elasto-hydrodynamic models are first developed to predict the magnetic excitation and relaxation of nanoparticle-coated nonuniform flagella. Then solutions are provided for various groups of nonuniform flagella with disparate nanoparticle coatings that relate their bending stiffness to their decay rate after the magnetic field is removed and the flagellum restores its original configuration. The numerical models are verified experimentally, and capture the effect of the nanoparticle coating on the bending stiffness. It is also shown that electrostatic self-assembly enables arbitrarily magnetizable cellular segments with variable stiffness along the flagellum. The bending stiffness is found to depend on the number and location of the magnetized cellular segments. © 2022 The Authors. Advanced Theory and Simulations published by Wiley-VCH GmbH.
JTD Keywords: cilia, flagella, flagellar propulsion, low reynolds numbers, magnetic, microswimmers, passive, sperm cell, Bending stiffness, Cells, Cellulars, Coatings, Decay (organic), Electric excitation, Excited states, Flagellar propulsion, Locomotion strategies, Low reynolds numbers, Magnetic, Magnetic excitations, Nanoparticle coatings, Passive, Propulsion methods, Self assembly, Simple++, Sperm cell, Sperm cells, Stiffness, Travelling waves, Variable stiffness, Wave propagation, Younǵs modulus
De Corato, M., Pagonabarraga, I., Abdelmohsen, L. K. E. A., Sánchez, S., Arroyo, M., (2020). Spontaneous polarization and locomotion of an active particle with surface-mobile enzymes Physical Review Fluids 5, (12), 122001
We examine a mechanism of locomotion of active particles whose surface is uniformly coated with mobile enzymes. The enzymes catalyze a reaction that drives phoretic flows but their homogeneous distribution forbids locomotion by symmetry. We find that the ability of the enzymes to migrate over the surface combined with self-phoresis can lead to a spontaneous symmetry-breaking instability whereby the homogeneous distribution of enzymes polarizes and the particle propels. The instability is driven by the advection of enzymes by the phoretic flows and occurs above a critical Péclet number. The transition to polarized motile states occurs via a supercritical or subcritical pitchfork bifurcations, the latter of which enables hysteresis and coexistence of uniform and polarized states.
JTD Keywords: Biomimetic & bio-inspired materials, Locomotion, Surface-driven phase separation
Vouloutsi, Vasiliki, Mura, Anna, Tauber, F., Speck, T., Prescott, T. J., Verschure, P., (2020). Biomimetic and Biohybrid Systems 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings , Springer, Cham (Lausanne, Switzerland) 12413, 1-428
This book constitutes the proceedings of the )th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020, held in Freiburg, Germany, in July 2020. Due to COVID-19 pandemic the conference was held virtually. The 32 full and 7 short papers presented in this volume were carefully reviewed and selected from 45 submissions. They deal with research on novel life-like technologies inspired by the scientific investigation of biological systems, biomimetics, and research that seeks to interface biological and artificial systems to create biohybrid systems.
JTD Keywords: Artificial intelligence, Soft robotics, Biomimetics, Insect navigation, Synthetic nervous system, Computer vision, Bio-inspired materials, Visual homing, Locomotion+, Image processing, Intelligent robots, Human-robot interaction, Machine learning, Snake robot, Mobile robots, Robotic systems, Drosophila, Robots, Sensors, Signal processing
Vouloutsi, Vasiliki, Halloy, José, Mura, Anna, Mangan, Michael, Lepora, Nathan, Prescott, T. J., Verschure, P., (2018). Biomimetic and Biohybrid Systems 7th International Conference, Living Machines 2018, Paris, France, July 17–20, 2018, Proceedings , Springer International Publishing (Lausanne, Switzerland) 10928, 1-551
This book constitutes the proceedings of the 7th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2018, held in Paris, France, in July 2018.
The 40 full and 18 short papers presented in this volume were carefully reviewed and selected from 60 submissions. The theme of the conference targeted at the intersection of research on novel life-like technologies inspired by the scientific investigation of biological systems, biomimetics, and research that seeks to interface biological and artificial systems to create biohybrid systems.
JTD Keywords: Artificial neural network, Bio-actuators, Bio-robotics, Biohybrid systems, Biomimetics, Bipedal robots, Earthoworm-like robots, Robotics, Decision-making, Tactile sensing, Soft robots, Locomotion, Insects, Sensors, Actuators, Robots, Artificial intelligence, Neural networks, Motion planning, Learning algorithms
Rajasekaran, V., Aranda, J., Casals, A., (2015). Compliant gait assistance triggered by user intention Engineering in Medicine and Biology Society (EMBC) 37th Annual International Conference of the IEEE , IEEE (Milan, Italy) , 3885-3888
An automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis interaction torques and initial position deviation to determine the gait initiation instant and to modify orthosis operation for gait assistance, when needed. During gait, the compliant control algorithm relies on the adaptation of the joints' stiffness in function of their interaction torques and their deviation from the desired trajectories, while maintaining the dynamic stability. As a reference input, the average of a set of recorded gaits obtained from healthy subjects is used. The algorithm has been tested with five healthy subjects showing its efficient behavior in initiating the gait and maintaining the equilibrium while walking in presence of external forces. The work is performed as a preliminary study to assist patients suffering from incomplete Spinal cord injury and Stroke.
JTD Keywords: Biomedical monitoring, Exoskeletons, Joints, Knee, Legged locomotion, Trajectory, Exoskeleton, adaptive control, gait assistance, gait initiation, rehabilitation, wearable robot