Biomimetic cilia arrays generate simultaneous pumping and mixing regimes

Programmable metachronal motion of closely packed magnetic artificial cilia

Despite recent advances in artificial cilia technologies, the application of metachrony, which is the collective wavelike motion by cilia moving out-of-phase, has been severely hampered by difficulties in controlling closely packed artificial cilia at micrometer length scales. Moreover, there has been no direct experimental proof yet that a metachronal wave in combination with fully reciprocal ciliary motion can generate significant microfluidic flow on a micrometer scale as theoretically predicted. In this study, using an in-house developed precise micro-molding technique, we have fabricated closely packed magnetic artificial cilia that can generate well-controlled metachronal waves. We studied the effect of pure metachrony on fluid flow by excluding all symmetry-breaking ciliary features. Experimental and simulation results prove that net fluid transport can be generated by metachronal motion alone, and the effectiveness is strongly dependent on cilia spacing. This technique not only offers a biomimetic experimental platform to better understand the mechanisms underlying metachrony, it also opens new pathways towards advanced industrial applications.

Optimal free-surface pumping by an undulating carpet

Examples of fluid flows driven by undulating boundaries are found in nature across many different length scales. Even though different driving mechanisms have evolved in distinct environments, they perform essentially the same function: directional transport of liquid. Nature-inspired strategies have been adopted in engineered devices to manipulate and direct flow. Here, we demonstrate how an undulating boundary generates large-scale pumping of a thin liquid near the liquid-air interface. Two dimensional traveling waves on the undulator, a canonical strategy to transport fluid at low Reynolds numbers, surprisingly lead to flow rates that depend non-monotonically on the wave speed. Through an asymptotic analysis of the thin-film equations that account for gravity and surface tension, we predict the observed optimal speed that maximizes pumping. Our findings reveal how proximity to free surfaces, which ensure lower energy dissipation, can be leveraged to achieve directional transport of liquids.

Nanomagnetic Elastomers for Realizing Highly Responsive Micro- and Nanosystems

Evolution has produced natural systems that generate motion and sense external stimuli at the micro- and nanoscales. At extremely small scales, the intricate motions and large deformations shown by these biosystems are due to a tipping balance between their structural compliance and the actuating force generated in them. Artificially mimicking such ingenious systems for scientific and engineering applications has been approached through the development and use of different smart materials mostly limited to microscale dimensions. To push the application range down to the nanoscale, we developed a material preparation process that yields a library of nanomagnetic elastomers with high magnetic particle concentrations. Through this process, we have realized a material with the highest magnetic-to-elastic force ratio, as is shown by an extensive mechanical and magnetic characterization of the materials. Furthermore, we have fabricated and actuated micro- and nanostructures mimicking cilia, demonstrating the extreme compliance and responsiveness of the developed materials.

A modular microfluidic device that uses magnetically actuatable microposts for enhanced magnetic bead-based workflows

Magnetic beads have been widely and successfully used for target enrichment in life science assays. There exists a large variety of commercially available magnetic beads functionalized for specific target capture, as well as options that enable simple surface modifications for custom applications. While magnetic beads are ideal for use in the macrofluidic context of typical laboratory workflows, their performance drops in microfluidic contexts, such as consumables for point-of-care diagnostics. A primary cause is the diffusion-limited analyte transport in these low Reynolds number environments. A new method, BeadPak, uses magnetically actuatable microposts to enhance analyte transport, improving yield of the desired targets. Critical parameters were defined for the operation of this technology and its performance characterized in canonical life-science assays. BeadPak achieved up to 1000× faster capture than a microfluidic chamber relying on diffusion alone, enabled a significant specimen concentration via volume reduction, and demonstrated compatibility with a range of biological specimens. The results shown in this work can be extended to other systems that utilize magnetic beads for target capture, concentration, and/or purification.

Microfluidic Acoustic Method for High Yield Extraction of Cell-Free DNA in Low-Volume Plasma Samples

Cell-free DNA has many applications in clinical medicine, in particular in cancer diagnosis and cancer treatment monitoring. Microfluidic-based solutions could provide solutions for rapid, cheaper, decentralized detection of cell-free tumoral DNA from a simple blood draw, or liquid biopsies, replacing invasive procedures or expensive scans. In this method, we present a simple microfluidic system for the extraction of cell-free DNA from low volume of plasma samples (≤500 μL). The technique is suitable for either static or continuous flow systems and can be used as a stand-alone module or integrated within a lab-on-chip system. The system relies on a simple yet highly versatile bubble-based micromixer module whose custom components can be fabricated with a combination of low-cost rapid prototyping techniques or ordered via widely available 3D-printing services. This system is capable of performing cell-free DNA extractions from small volumes of blood plasma with up to a tenfold increase in capture efficiency when compared to control methods.

Spontaneous phase coordination and fluid pumping in model ciliary carpets

Ciliated tissues, such as in the mammalian lungs, brains, and reproductive tracts, are specialized to pump fluid. They generate flows by the collective activity of hundreds of thousands of individual cilia that beat in a striking metachronal wave pattern. Despite progress in analyzing cilia coordination, a general theory that links coordination and fluid pumping in the limit of large arrays of cilia remains lacking. Here, we conduct in silico experiments with thousands of hydrodynamically interacting cilia, and we develop a continuum theory in the limit of infinitely many independently beating cilia by combining tools from active matter and classical Stokes flow. We find, in both simulations and theory, that isotropic and synchronized ciliary states are unstable. Traveling waves emerge regardless of initial conditions, but the characteristics of the wave and net flows depend on cilia and tissue properties. That is, metachronal phase coordination is a stable global attractor in large ciliary carpets, even under finite perturbations to cilia and tissue properties. These results support the notion that functional specificity of ciliated tissues is interlaced with the tissue architecture and cilia beat kinematics and open up the prospect of establishing structure to function maps from cilium-level beat to tissue-level coordination and fluid pumping.

Numerical investigation of flexible Purcell-like integrated microfluidic pumps

Integrating miniature pumps within microfluidic devices is crucial for advancing point-of-care diagnostics. Understanding the emergence of flow from novel integrated pumping systems is the first step in their successful implementation. A Purcell-like elasto-magnetic integrated microfluidic pump has been simulated in COMSOL Multiphysics and its performance has been investigated and evaluated. An elastic, cilia-like element contains an embedded magnet, which allows for actuation via a weak, uniaxial, sinusoidally oscillating, external magnetic field. Pumping performance is correlated against a number of variables, such as the frequency of the driving field and the proximity of the pump to the channel walls, in order to understand the emergence of the pumping behavior. Crucially, these simulations capture many of the trends observed experimentally and shed light on the key interactions. The proximity of the channel walls in the in-plane direction strongly determines the direction of net fluid flow. This characterization has important implications for the design and optimization of this pump in practical applications.

Ordered Magnetic Cilia Array Induced by the Micro-cavity Effect for the In Situ Adjustable Pressure Sensor

Cilia are fundamental functional structures in natural biology. As the primary option of artificial cilia, magnetic cilia have been drawing extensive attention due to their excellent biocompatibility, sensitive response, and contactless actuation. However, most of the ordered magnetic cilia are fabricated by molds, suffering from high cost and low efficiency. In this paper, an ultrafast fabrication method of ordered cilia array using the micro-cavity inducing effect was proposed. With the impact of static and dynamic magnetic fields, the fine cilia were first formed in out-cavity area and then converged above cavities forming complete cilia structures. The mechanism of the micro-cavity inducing effect was further revealed. Finally, the ordered cilia array was used to develop the pressure sensor with variable stiffness, making the in situ adjustment of the sensor performance possible. The ordered cilia array was applied as a micro-mixer and largely improved the mixing efficiency for different mediums. The ordered cilia array also successfully served as the info carrier for rapid sub-encryption. This method allows the fast and controlled forming of ordered cilia arrays within 30 s, and the cilia structure can be adjusted in a large range of aspect ratios (1-9), providing an approach to large-scale producing the magnetic cilia for different applications.

Metachronal patterns by magnetically-programmable artificial cilia surfaces for low Reynolds number fluid transport and mixing

Motile cilia can produce net fluid flows at low Reynolds number because of their asymmetric motion and metachrony of collective beating. Mimicking this with artificial cilia can find application in microfluidic devices for fluid transport and mixing. Here, we study the metachronal beating of nonidentical, magnetically-programmed artificial cilia whose individual non-reciprocal motion and collective metachronal beating pattern can be independently controlled. We use a finite element method that accounts for magnetic forces, cilia deformation and fluid flow in a fully coupled manner. Mimicking biological cilia, we study magnetic cilia subject to a full range of metachronal driving patterns, including antiplectic, symplectic, laeoplectic and diaplectic waves. We analyse the induced primary flow, secondary flow and mixing rate as a function of the phase lag between cilia and explore the underlying physical mechanism. Our results show that shielding effects between neighboring cilia lead to a primary flow that is larger for antiplectic than for symplectic metachronal waves. The secondary flow can be fully explained by the propagation direction of the metachronal wave. Finally, we show that the mixing rate can be strongly enhanced by laeoplectic and diaplectic metachrony resulting in large velocity gradients and vortex-like flow patterns.

Versatile Coating Platform for Metal Oxide Nanoparticles: Applications to Materials and Biological Science

In this feature article, we provide an overview of our research on statistical copolymers as a coating material for metal oxide nanoparticles and surfaces. These copolymers contain functional groups enabling noncovalent binding to oxide surfaces and poly(ethylene glycol) (PEG) polymers for colloidal stability and stealthiness. The functional groups are organic derivatives of phosphorous acid compounds R-H₂PO₃, also known as phosphonic acids that have been screened for their strong affinity to metals and for their multidentate binding ability. Herein we develop a polymer-based coating platform that shares features with the self-assembled monolayer (SAM) and layer-by-layer (L-b-L) deposition techniques. The milestones of this endeavor are the synthesis of PEG-based copolymers containing multiple phosphonic acid groups, the implementation of simple protocols combining versatility with high particle production yields, and the experimental evidence of the colloidal stability of the coated particles. As a demonstration, coating studies are conducted on cerium (CeO₂), iron (γ-Fe₂O₃), aluminum (Al₂O₃), and titanium (TiO₂) oxides of different sizes and morphologies. We finally discuss applications in the domain of nanomaterials and nanomedicine. We evaluate the beneficial effects of coatings on redispersible nanopowders, contrast agents for in vitro/vivo assays, and stimuli-responsive particles.

Microscopic artificial cilia - a review

Cilia are microscopic hair-like external cell organelles that are ubiquitously present in nature, also within the human body. They fulfill crucial biological functions: motile cilia provide transportation of fluids and cells, and immotile cilia sense shear stress and concentrations of chemical species. Inspired by nature, scientists have developed artificial cilia mimicking the functions of biological cilia, aiming at application in microfluidic devices like lab-on-chip or organ-on-chip. By actuating the artificial cilia, for example by a magnetic field, an electric field, or pneumatics, microfluidic flow can be generated and particles can be transported. Other functions that have been explored are anti-biofouling and flow sensing. We provide a critical review of the progress in artificial cilia research and development as well as an evaluation of its future potential. We cover all aspects from fabrication approaches, actuation principles, artificial cilia functions - flow generation, particle transport and flow sensing - to applications. In addition to in-depth analyses of the current state of knowledge, we provide classifications of the different approaches and quantitative comparisons of the results obtained. We conclude that artificial cilia research is very much alive, with some concepts close to industrial implementation, and other developments just starting to open novel scientific opportunities.

Nature-inspired micro/nanomotors

Living things in nature have evolved with unique morphologies, structures, materials, behaviors, and functions to survive in complex natural environments. Nature has inspired the design ideas, preparation methods, and applications of versatile micro/nanomotors. This review summarizes diverse nature-inspired micro/nanomotors, which can be divided into five groups: (i) natural morphology-inspired micro/nanomotors, whose shapes are designed to imitate the morphologies of plants, animals, and objects in nature. (ii) Natural structure-inspired micro/nanomotors, which use structures from plants, red blood cells, and platelet cells as components of micro/nanomotors, or directly use sperm cells and microorganisms as the engines of micro/nanomotors. (iii) Natural behavior-inspired micro/nanomotors, which are proposed to mimic natural behaviors such as motion behavior, swarm behavior, and communication behavior between individuals. (iv) Micro/nanomotors inspired by both natural morphology and behavior. Nature makes it possible for synthetic micro/nanomotors to possess interesting morphologies, novel preparation methods, new propulsion modes, innovative functions, and broad applications. The nature-inspired micro/nanomotors could provide a promising platform for various practical fields.

Optimal Design of Bacterial Carpets for Fluid Pumping

In this work, we outline a methodology for determining optimal helical flagella placement and phase shift that maximize fluid pumping through a rectangular flow meter above a simulated bacterial carpet. This method uses a Genetic Algorithm (GA) combined with a gradient-based method, the Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm, to solve the optimization problem and the Method of Regularized Stokeslets (MRS) to simulate the fluid flow. This method is able to produce placements and phase shifts for small carpets and could be adapted for implementation in larger carpets and various fluid tasks. Our results show that given identical helices, optimal pumping configurations are influenced by the size of the flow meter. We also show that intuitive designs, such as uniform placement, do not always lead to a high-performance carpet.

Active beating modes of two clamped filaments driven by molecular motors

Biological cilia pump the surrounding fluid by asymmetric beating that is driven by dynein motors between sliding microtubule doublets. The complexity of biological cilia raises the question about minimal systems that can re-create similar patterns of motion. One such system consists of a pair of microtubules that are clamped at the proximal end. They interact through dynein motors that cover one of the filaments and pull against the other one. Here, we study theoretically the static shapes and the active dynamics of such a system. Using the theory of elastica, we analyse the shapes of two filaments of different lengths with clamped ends. Starting from equal lengths, we observe a transition similar to Euler buckling leading to a planar shape. When further increasing the length ratio, the system assumes a non-planar shape with spontaneously broken chiral symmetry after a secondary bifurcation and then transitions to planar again. The predicted curves agree with experimentally observed shapes of microtubule pairs. The dynamical system can have a stable fixed point, with either bent or straight filaments, or limit cycle oscillations. The latter match many properties of ciliary motility, demonstrating that a two-filament system can serve as a minimal actively beating model.

Shape-programmable artificial cilia for microfluidics

The artificial ciliary motion has been known not to be hydrodynamically optimal, limiting their associated applications in the microscale flow domain. One of the major hurdles of contemporary artificial cilia is its structural rigidity, which restricts their flexibility. To address this issue, this work proposed a shape-programmable artificial cilia design with distinctive polydimethylsiloxane (PDMS) and magnetic segments distributed throughout the structure, which provided precise control for time-spatial modulation of the whole artificial cilia structure under external magnetic actuation. For the fabrication of the proposed multi-segment artificial cilia, a facile microfabrication process with stepwise mold blocking followed by the PDMS and magnetic composite casting was adopted. The hydrodynamic analysis further elucidated that the proposed artificial cilia beating induced significant flow disturbance within the flow field, and the associated application was demonstrated through an efficient mixing operation.

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Fabrication of artificial cilia was conducted through micromilling and casting methods.

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The weighted index was correlated to the bending angles of artificial cilia.

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Hydrodynamic analysis of artificial cilia was performed through the μPIV analysis.

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A significant improvement in mixing performance was achieved in few seconds.

Ultrasound-activated ciliary bands for microrobotic systems inspired by starfish

Cilia are short, hair-like appendages ubiquitous in various biological systems, which have evolved to manipulate and gather food in liquids at regimes where viscosity dominates inertia. Inspired by these natural systems, synthetic cilia have been developed and utilized in microfluidics and microrobotics to achieve functionalities such as propulsion, liquid pumping and mixing, and particle manipulation. Here, we demonstrate ultrasound-activated synthetic ciliary bands that mimic the natural arrangements of ciliary bands on the surface of starfish larva. Our system leverages nonlinear acoustics at microscales to drive bulk fluid motion via acoustically actuated small-amplitude oscillations of synthetic cilia. By arranging the planar ciliary bands angled towards (+) or away (-) from each other, we achieve bulk fluid motion akin to a flow source or sink. We further combine these flow characteristics with a physical principle to circumvent the scallop theorem and realize acoustic-based propulsion at microscales. Finally, inspired by the feeding mechanism of a starfish larva, we demonstrate an analogous microparticle trap by arranging + and - ciliary bands adjacent to each other.

A Brief Review on Challenges in Design and Development of Nanorobots for Medical Applications

Robotics is a rapidly growing field, and the innovative idea to scale down the size of robots to the nanometer level has paved a new way of treating human health. Nanorobots have become the focus of many researchers aiming to explore their many potential applications in medicine. This paper focuses on manufacturing techniques involved in the fabrication of nanorobots and their associated challenges in terms of design architecture, sensors, actuators, powering, navigation, data transmission, followed by challenges in applications. In addition, an overview of various nanorobotic systems addresses different architectures of a nanorobot. Moreover, multiple medical applications, such as oncology, drug delivery, and surgery, are reviewed and summarized.

Highly motile nanoscale magnetic artificial cilia

Cilia are hair-like microscopic structures present abundantly in our body and producing motions at the smallest scales. They perform a wide range of critical functions and are crucial for the normal functioning of our body. Abnormal functioning of cilia results in a number of diseases jointly known as ciliopathies. Artificially mimicking cilia is aimed at understanding their normal/abnormal functionality and at developing cilia-inspired micro-/nanoengineering devices. In this study, we present a magnetic polymer preparation process yielding a material with optimum properties and a cilia fabrication method producing the smallest highly motile artificial cilia with sizes equal to their biological counterparts. This opens avenues for biological studies and for creating submicrometer manipulation and control.

Among the many complex bioactuators functioning at different scales, the organelle cilium represents a fundamental actuating unit in cellular biology. Producing motions at submicrometer scales, dominated by viscous forces, cilia drive a number of crucial bioprocesses in all vertebrate and many invertebrate organisms before and after their birth. Artificially mimicking motile cilia has been a long-standing challenge while inspiring the development of new materials and methods. The use of magnetic materials has been an effective approach for realizing microscopic artificial cilia; however, the physical and magnetic properties of the magnetic material constituents and fabrication processes utilized have almost exclusively only enabled the realization of highly motile artificial cilia with dimensions orders of magnitude larger than their biological counterparts. This has hindered the development and study of model systems and devices with inherent size-dependent aspects, as well as their application at submicrometer scales. In this work, we report a magnetic elastomer preparation process coupled with a tailored molding process for the successful fabrication of artificial cilia with submicrometer dimensions showing unprecedented deflection capabilities, enabling the design of artificial cilia with high motility and at sizes equal to those of their smallest biological counterparts. The reported work crosses the barrier of nanoscale motile cilia fabrication, paving the way for maximum control and manipulation of structures and processes at micro- and nanoscales.

Directional Transportation on Microplate-Arrayed Surfaces Driven via a Magnetic Field

Directional transportation on micro/nanostructure-arrayed surfaces driven by an external field has attracted increasing attention in numerous domains, and this has led to significant progress in this field. In this study, an efficient method for high-speed transportation of solid objects is proposed based on magnetically responsive microplate arrays with a high aspect ratio. The transport speed is approximately an order of magnitude higher than the existing value. In addition, the speed of the transported objects can be controlled appropriately by the speed of the magnet. Besides, objects with varying shapes and sizes can be transported in both air and water. Further investigation of the transport mechanism reveals a rapid release of the elastic strain energy stored in the microplate. Hence, using this energy, the object can bounce forward quickly. The proposed technique and design aid not only in studies on more efficient, intelligent, or even programmed micro/nanotransportation but also in micro/nanomanipulation.

A bending fluctuation-based mechanism for particle detection by ciliated structures

To mimic the mechanical response of passive biological cilia in complex fluids, we study the bending dynamics of an anchored elastic fiber submitted to a dilute granular suspension under shear. We show that the bending fluctuations of the fiber accurately encode minute variations of the granular suspension concentration. Indeed, besides the stationary bending induced by the continuous phase flow, the passage of each single particle induces an additional deflection. We demonstrate that the dominant particle/fiber interaction arises from contacts of the particles with the fiber, and we propose a simple elastohydrodynamics model to predict their amplitude. Our results provide a mechanistic and statistical framework to describe particle detection by biological ciliated systems.

Magnetically responsive polymer nanopillars with nickel cap

Embedding magnetic particles within polymer matrix is a common and facile method to fabricate magnetically responsive micro-/nanoscale pillars. However, the balance between mechanical compliance and magnetic susceptibility cannot be decoupled and the particles are limited by the pillar feature size, which can limit the actuation performance. Here we demonstrate a new type of magnetically responsive nanostructure consisting of a polydimethylsiloxane (PDMS) nanopillar array with deposited nickel caps, that has successfully achieved such decoupling with multiple cap-geometry designs for a better actuation control. The actuation result of nanopillars with 540 nm period and 1.3 μm height has been analyzed using image processing, leading to a maximum displacement of 180 nm with a ratio of 13.9% with respect to the pillar height. Magnetic and mechanical models based on magnetic force and torque have been developed and used to mitigate the weakening effect of the actuation by the residual magnetic layer. This structure demonstrates a feasible strategy for magnetic actuation at the sub-micrometer scale with freedom to design magnetic cap and polymeric pillar separately. This structure can also be utilized in multiple applications such as tunable optical elements, dynamic droplet manipulation, and responsive particle manipulation.

Locomotion of Miniature Soft Robots

Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro- to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits as it enables them to easily access highly confined and enclosed spaces via a noninvasive manner. If miniature soft robots are able to capitalize this unique ability, they will have the potential to transform a vast range of applications, including but not limited to, minimally invasive medical treatments, lab-on-chip applications, and search-and-rescue missions. The gaits of miniature soft robots are categorized into terrestrial, aquatic, and aerial locomotion. Except for the centimeter-scale robots that can perform aerial locomotion, the discussions in this report are centered around soft robots that are in the micro- to millimeter length scales. Under each category of locomotion, prospective methods and strategies that can improve their gait performances are also discussed. This report provides critical analyses and discussions that can inspire future strategies to make miniature soft robots significantly more agile.

Enhancement of microalgae growth using magnetic artificial cilia

Microalgae have shown great potential as a source of biofuels, food, and other bioproducts. More recently, microfluidic devices have been employed in microalgae-related studies. However, at small fluid volumes, the options for controlling flow conditions are more limited and mixing becomes largely reliant on diffusion. In this study, we fabricated magnetic artificial cilia (MAC) and implemented them in millimeter scale culture wells and conducted growth experiments with Scenedesmus subspicatus while actuating the MAC in a rotating magnetic field to create flow and mixing. In addition, surface of MAC was made hydrophilic using plasma treatment and its effect on growth was compared with untreated, hydrophobic MAC. The experiments showed that the growth was enhanced by ten and two times with hydrophobic and hydrophilic MAC, respectively, compared with control groups which contain no MAC. This technique can be used to investigate mixing and flow in small sample volumes, and the enhancement in growth can be beneficial for the throughput of screening studies. Moreover, the methods used for creating and controlling MAC can be easily adopted in labs without microfabrication infrastructures, and they can be mastered by people with little prior experience in microfluidics.

Mixing and oxygen transfer characteristics of a microplate bioreactor with surface-attached microposts

Bioprocess optimization for cell-based therapies is a resource heavy activity. To reduce the associated cost and time, process development may be carried out in small volume systems, with the caveat that such systems be predictive for process scale-up. The transport of oxygen from the gas phase into the culture medium, characterized using the volumetric mass transfer coefficient, k_L a, has been identified as a critical parameter for predictive process scale-up. Here, we describe the development of a 96-well microplate with integrated Redbud Posts to provide mixing and enhanced k_L a. Mixing in the microplate is characterized by observation of dyes and analyzed using the relative mixing index (RMI). The k_L a is measured via dynamic gassing out method. Actuating Redbud Posts are shown to increase rate of planar homogeneity (2 min) verse diffusion alone (120 min) and increase oxygenation, with increasing stirrer speed (3500-9000 rpm) and decreasing fill volume (150-350 μL) leading to an increase in k_L a (4-88 h^-1 ). Significant increase in Chinese Hamster Ovary growth in Redbud Labs vessel (580,000 cells mL^-1 ) versus the control (420,000 cells mL^-1 ); t(12.814) = 8.3678, p ≤ .001), and CD4⁺ Naïve cell growth in the microbioreactor indicates the potential for this technology in early stage bioprocess development and optimization.

Primary cilium: a paradigm for integrating mathematical modeling with experiments and numerical simulations in mechanobiology

Primary cilia are non-motile, solitary (one per cell) microtubule-based organelles that emerge from the mother centriole after cells have exited the mitotic cycle. Identified as a mechanosensing organelle that responds to both mechanical and chemical stimuli, the primary cilium provides a fertile ground for integrative investigations of mathematical modeling, numerical simulations, and experiments. Recent experimental findings revealed considerable complexity to the underlying mechanosensory mechanisms that transmit extracellular stimuli to intracellular signaling many of which include primary cilia. In this invited review, we provide a brief survey of experimental findings on primary cilia and how these results lead to various mathematical models of the mechanics of the primary cilium bent under an external forcing such as a fluid flow or a trap. Mathematical modeling of the primary cilium as a fluid-structure interaction problem highlights the importance of basal anchorage and the anisotropic moduli of the microtubules. As theoretical modeling and numerical simulations progress, along with improved state-of-the-art experiments on primary cilia, we hope that details of ciliary regulated mechano-chemical signaling dynamics in cellular physiology will be understood in the near future.

Metachronal patterns in artificial cilia for low Reynolds number fluid propulsion

Cilia are hair-like organelles, present in arrays that collectively beat to generate flow. Given their small size and consequent low Reynolds numbers, asymmetric motions are necessary to create a net flow. Here, we developed an array of six soft robotic cilia, which are individually addressable, to both mimic nature's symmetry-breaking mechanisms and control asymmetries to study their influence on fluid propulsion. Our experimental tests are corroborated with fluid dynamics simulations, where we find a good agreement between both and show how the kymographs of the flow are related to the phase shift of the metachronal waves. Compared to synchronous beating, we report a 50% increase of net flow speed when cilia move in an antiplectic wave with phase shift of -π/3 and a decrease for symplectic waves. Furthermore, we observe the formation of traveling vortices in the direction of the wave when metachrony is applied.

Microfluidic devices powered by integrated elasto-magnetic pumps

We show how an asymmetric elasto-magnetic system provides a novel integrated pumping solution for lab-on-a-chip and point of care devices. This monolithic pumping solution, inspired by Purcell's 3-link swimmer, is integrated within a simple microfluidic device, bypassing the requirement of external connections. We experimentally prove that this system can provide tuneable fluid flow with a flow rate of up to 600 μL h-1. This fluid flow is achieved by actuating the pump using a weak, uniform, uniaxial, oscillating magnetic field, with field amplitudes in the range of 3-6 mT. Crucially, the fluid flow can be reversed by adjusting the driving frequency. We experimentally prove that this device can successfully operate on fluids with a range of viscosities, where pumping at higher viscosity correlates with a decreasing optimal driving frequency. The fluid flow produced by this device is understood here by examining the non-reciprocal motion of the elasto-magnetic component. This device has the capability to replace external pumping systems with a simple, integrated, lab-on-a-chip component.

Bioinspired cilia arrays with programmable nonreciprocal motion and metachronal coordination

Coordinated nonreciprocal dynamics in biological cilia is essential to many living systems, where the emergentmetachronal waves of cilia have been hypothesized to enhance net fluid flows at low Reynolds numbers (Re). Experimental investigation of this hypothesis is critical but remains challenging. Here, we report soft miniature devices with both ciliary nonreciprocal motion and metachronal coordination and use them to investigate the quantitative relationship between metachronal coordination and the induced fluid flow. We found that only antiplectic metachronal waves with specific wave vectors could enhance fluid flows compared with the synchronized case. These findings further enable various bioinspired cilia arrays with unique functionalities of pumping and mixing viscous synthetic and biological complex fluids at low Re Our design method and developed soft miniature devices provide unprecedented opportunities for studying ciliary biomechanics and creating cilia-inspired wireless microfluidic pumping, object manipulation and lab- and organ-on-a-chip devices, mobile microrobots, and bioengineering systems.

Metachronal Actuation of Microscale Magnetic Artificial Cilia

Biological cells often interact with the environment through carpets of microscopic hair-like cilia. These elastic structures are known to beat in a synchronized wavy fashion called metachronal motion to produce fluid transport. Metachronal motion emerges due to a phase difference between beating cycles of neighboring cilia and appears as traveling waves propagating along the ciliary carpet. We demonstrate submerged in water microscale magnetic cilia that are externally actuated to beat in a metachronal fashion. Two approaches are used to induce coordinated phase differences among the beating cilia. In the first case, we fabricate cilia with an imposed gradient of geometrical properties that are subject to a rotating uniform magnetic field. In the second scenario, a ciliary array is composed of identical cilia that experience a magnetic field that varies spatiotemporally. We demonstrate that magnetic cilia can achieve symplectic, antiplectic, and leoplectic metachrony.

Metachronal actuation of microscopic magnetic artificial cilia generates strong microfluidic pumping

Biological cilia that generate fluid flow or propulsion are often found to exhibit a collective wavelike metachronal motion, i.e. neighboring cilia beat slightly out-of-phase rather than synchronously. Inspired by this observation, this article experimentally demonstrates that microscopic magnetic artificial cilia (μMAC) performing a metachronal motion can generate strong microfluidic flows, though, interestingly, the mechanism is different from that in biological cilia, as is found through a systematic experimental study. The μMAC are actuated by a facile magnetic setup, consisting of an array of rod-shaped magnets. This arrangement imposes a time-dependent non-uniform magnetic field on the μMAC array, resulting in a phase difference between the beatings of adjacent μMAC, while each cilium exhibits a two-dimensional whip-like motion. By performing the metachronal 2D motion, the μMAC are able to generate a strong flow in a microfluidic chip, with velocities of up to 3000 μm s^-1 in water, which, different from biological cilia, is found to be a result of combined metachronal and inertial effects, in addition to the effect of asymmetric beating. The pumping performance of the metachronal μMAC outperforms all previously reported microscopic artificial cilia, and is competitive with that of most of the existing microfluidic pumping methods, while the proposed platform requires no physical connection to peripheral equipment, reduces the usage of reagents by minimizing "dead volumes", avoids undesirable electrical effects, and accommodates a wide range of different fluids. The 2D metachronal motion can also generate a flow with velocities up to 60 μm s^-1 in pure glycerol, where Reynolds number is less than 0.05 and the flow is primarily caused by the metachronal motion of the μMAC. These findings offer a novel solution to not only create on-chip integrated micropumps, but also design swimming and walking microrobots, as well as self-cleaning and antifouling surfaces.

Optomechanically Actuated Microcilia for Locally Reconfigurable Surfaces

Artificial microcilia structures have shown potential to incorporate actuators in various applications such as microfluidic devices and biomimetic microrobots. Among the multiple possibilities to achieve cilia actuation, magnetic fields present an opportunity given their quick response and wireless operation, despite the difficulty in achieving localized actuation because of their continuous distribution. In this work, a high-aspect-ratio (>8), elastomeric, magnetically responsive microcilia array is presented that allows for wireless, localized actuation through the combined use of light and magnetic fields. The microcilia array can move in response to an external magnetic field and can be locally actuated by targeted illumination of specific areas. The periodic pattern of the microcilia also diffracts light with varying diffraction efficiency as a function of the applied magnetic field, showing potential for wirelessly controlled adaptive optical elements.

Anti-Biofouling and Self-Cleaning Surfaces Featured with Magnetic Artificial Cilia

The fouling of surfaces submerged in a liquid is a serious problem for many applications including lab-on-a-chip devices and marine sensors. Inspired by the versatility of cilia in manipulating fluids and particles, it is experimentally demonstrated that surfaces partially covered with magnetic artificial cilia (MAC) have the capacity to efficiently prevent attachment and adhesion of real biofouling agents-microalgae Scenedesmus sp. Actuation of the MAC resulted in over 99% removal of the algae for two different scenarios: (1) actuating the MAC immediately after injecting the algae into a microfluidic chip, demonstrating antifouling and (2) starting to actuate the MAC 1 week after injecting the algae into the chip and leaving them to grow in static conditions, showing self-cleaning. It is shown that the local and global flows generated by the actuated MAC are substantial, resulting in hydrodynamic shear forces acting on the algae, which are likely to be key to efficient antifouling and self-cleaning. These findings and insights will potentially lead to novel types of self-cleaning and antifouling strategies, which may have a relevant practical impact on different fields and applications including lab-on-a-chip devices and water quality analyzers.

Magnetic cilia carpets with programmable metachronal waves

Metachronal waves commonly exist in natural cilia carpets. These emergent phenomena, which originate from phase differences between neighbouring self-beating cilia, are essential for biological transport processes including locomotion, liquid pumping, feeding, and cell delivery. However, studies of such complex active systems are limited, particularly from the experimental side. Here we report magnetically actuated, soft, artificial cilia carpets. By stretching and folding onto curved templates, programmable magnetization patterns can be encoded into artificial cilia carpets, which exhibit metachronal waves in dynamic magnetic fields. We have tested both the transport capabilities in a fluid environment and the locomotion capabilities on a solid surface. This robotic system provides a highly customizable experimental platform that not only assists in understanding fundamental rules of natural cilia carpets, but also paves a path to cilia-inspired soft robots for future biomedical applications.

Active Periodic Magnetic Nanostructures with High Aspect Ratio and Ultrahigh Pillar Density

Magnetically actuated micro/nanoscale pillars have attracted significant research interest recently because of their dynamic properties. These structures can be used for various applications, such as dry adhesion, cell manipulation, and sensors or actuators in microfluidics. Magnetically actuated structures can be fabricated by mixing magnetic particles and polymers to yield a favorable combination of magnetic permeability and mechanical compliance. However, the pillar density of demonstrated structures is relatively low, which limits the potential applications in active surface manipulation of microscale objects. Here, we demonstrate active periodic nanostructures with a pillar density of 0.25 pillar/μm², which is the highest density for magnetically actuated pillars so far. Having a structure period of 2 μm, diameter of 600 nm, and high aspect ratio of up to 11, this structure can be magnetically actuated with a displacement of up to 200 nm. The behaviors of the pillars under various cyclic actuation modes have been characterized, demonstrating that the actuation can be well controlled. This work can find potential applications in particle manipulation and tunable photonic elements.

Versatile hybrid acoustic micromixer with demonstration of circulating cell-free DNA extraction from sub-ml plasma samples

Acoustic micromixers have attracted considerable attention in the last years since they can deliver high mixing efficiencies without the need for movable components. However, their adoption in the academic and industrial microfluidics community has been limited, possibly due to the reduced flexibility and accessibility of previous designs since most of them are application-specific and fabricated with techniques that are expensive, not widely available and difficult to integrate with other manufacturing technologies. In this work, we describe a simple, yet highly versatile, bubble-based micromixer module fabricated with a combination of low-cost rapid prototyping techniques. The hybrid approach enables the integration of the module into practically any substrate and the individual control of multiple micromixers embedded within the same monolithic chip. The module can operate under static and continuous flow conditions showing enhanced mixing capabilities compared to similar devices. We show that the system is capable of performing cell-free DNA extractions from small volumes of blood plasma (≤500 μl) with up to a ten-fold increase in capture efficiency when compared to control methods.

Origin and role of the cerebrospinal fluid bidirectional flow in the central canal

Circulation of the cerebrospinal fluid (CSF) contributes to body axis formation and brain development. Here, we investigated the unexplained origins of the CSF flow bidirectionality in the central canal of the spinal cord of 30 hpf zebrafish embryos and its impact on development. Experiments combined with modeling and simulations demonstrate that the CSF flow is generated locally by caudally-polarized motile cilia along the ventral wall of the central canal. The closed geometry of the canal imposes the average flow rate to be null, explaining the reported bidirectionality. We also demonstrate that at this early stage, motile cilia ensure the proper formation of the central canal. Furthermore, we demonstrate that the bidirectional flow accelerates the transport of particles in the CSF via a coupled convective-diffusive transport process. Our study demonstrates that cilia activity combined with muscle contractions sustain the long-range transport of extracellular lipidic particles, enabling embryonic growth.

Microfluidic Magnetic Mixing at Low Reynolds Numbers and in Stagnant Fluids

Microfluidic mixing becomes a necessity when thorough sample homogenization is required in small volumes of fluid, such as in lab-on-a-chip devices. For example, efficient mixing is extraordinarily challenging in capillary-filling microfluidic devices and in microchambers with stagnant fluids. To address this issue, specifically designed geometrical features can enhance the effect of diffusion and provide efficient mixing by inducing chaotic fluid flow. This scheme is known as "passive" mixing. In addition, when rapid and global mixing is essential, "active" mixing can be applied by exploiting an external source. In particular, magnetic mixing (where a magnetic field acts to stimulate mixing) shows great potential for high mixing efficiency. This method generally involves magnetic beads and external (or integrated) magnets for the creation of chaotic motion in the device. However, there is still plenty of room for exploiting the potential of magnetic beads for mixing applications. Therefore, this review article focuses on the advantages of magnetic bead mixing along with recommendations on improving mixing in low Reynolds number flows (Re ≤ 1) and in stagnant fluids.

Beating to rotational transition of a clamped active ribbon-like filament

We present a detailed study of a clamped ribbon-like filament under a compressive active force using Brownian dynamics simulations. We show that a clamped ribbon-like filament is able to capture beating as well as rotational motion under the compressive force. The nature of oscillation is governed by the torsional rigidity of the filament. The frequency of oscillation is almost independent of the torsional rigidity. The beating of the filament gives a butterfly-shaped trajectory of the free-end monomer, whereas rotational motion yields a circular trajectory on a plane. The binormal correlation and the principal component analysis reveal the butterfly, elliptical, and circular trajectories of the free end monomer. We present a phase diagram for different kinds of motion in the parameter regime of compressive force and torsional rigidity.

From isolated structures to continuous networks: A categorization of cytoskeleton-based motile engineered biological microstructures

As technology at the small scale is advancing, motile engineered microstructures are becoming useful in drug delivery, biomedicine, and lab-on-a-chip devices. However, traditional engineering methods and materials can be inefficient or functionally inadequate for small-scale applications. Increasingly, researchers are turning to the biology of the cytoskeleton, including microtubules, actin filaments, kinesins, dyneins, myosins, and associated proteins, for both inspiration and solutions. They are engineering structures with components that range from being entirely biological to being entirely synthetic mimics of biology and on scales that range from isotropic continuous networks to single isolated structures. Motile biological microstructures trace their origins from the development of assays used to study the cytoskeleton to the array of structures currently available today. We define 12 types of motile biological microstructures, based on four categories: entirely biological, modular, hybrid, and synthetic, and three scales: networks, clusters, and isolated structures. We highlight some key examples, the unique functionalities, and the potential applications of each microstructure type, and we summarize the quantitative models that enable engineering them. By categorizing the diversity of motile biological microstructures in this way, we aim to establish a framework to classify these structures, define the gaps in current research, and spur ideas to fill those gaps. This article is categorized under: Nanotechnology Approaches to Biology > Nanoscale Systems in Biology Nanotechnology Approaches to Biology > Cells at the Nanoscale Biology-Inspired Nanomaterials > Protein and Virus-Based Structures Therapeutic Approaches and Drug Discovery > Emerging Technologies.

Magnetically Actuated Dynamic Iridescence Inspired by the Neon Tetra

Inspired by the tropical fish neon tetra, we report a mechanism to achieve dynamic iridescence that can be magnetically tuned. This approach is based on the tilting of periodic photonic nanostructures, as opposed to the more common strain-induced color tuning. In this method, a periodic array of magnetic nanopillars serves as a template to guide the assembly of iron oxide nanoparticles when magnetized in a liquid environment. The periodic local fields induced by the magnetic template anchor the assembled particle columns, allowing the structure to tilt about the base when the angle of the applied field is changed. This effect emulates a microscopic "Venetian blind" and results in dynamic optical properties through structural coloration that is tunable in real time. The fabricated prototype demonstrates tunable reflectance spectra with peak wavelength shift from 528 to 720 nm. The magnetic actuation mechanism is reversible and has a fast response time around 0.3 s. This structure can be implemented on an arbitrary surface as dynamic camouflage, iridescent display, and tunable photonic elements, as well as in other applications such as active fluidic devices and particle manipulation.

Multifunctional Janus Microplates Arrays Actuated by Magnetic Fields for Water/Light Switches and Bio-Inspired Assimilatory Coloration

Smart dynamic regulation structured surfaces, inspired by nature, which can dynamically change their surface topographies under external stimuli for convertible fluidic and optical properties, have recently motivated significant interest for scientific research and industrial applications. However, there is still high demand for the development of multifunctional dynamically transformable surfaces using facile preparation strategies. In this work, a type of Janus high-aspect-ratio magnetically responsive microplates array (HAR-MMA) is readily fabricated by integrating a flexible laser scanning strategy, smart shape-memory-polymer-based soft transfer, and a simple surface treatment. By applying external magnetic field, instantaneous and reversible deformation of Janus HAR-MMA can be actuated, so surface wettability can be reversibly switched between superhydrophobic (158°) and hydrophilic (40°) states, based on which a novel magnetically responsive water droplet switch can be realized. Moreover, inspired by the biological assimilatory coloration of chameleons, dynamically color conversion can be skillfully realized by applying different colors on each side of the Janus HAR-MMA. Finally, as a proof-of-concept demonstration in light manipulation, a HAR-MMA is applied as an optical shutter actuated by external magnetic field with eximious controllability and repeatability. The developed multifunctional HAR-MMA provides a versatile platform for microfluidic, biomedical, and optical applications.

Programmable Collective Behavior in Dynamically Self-Assembled Mobile Microrobotic Swarms

Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Without integrated electronics for sensing and actuation, current microrobotic systems should rely on physical interactions among individual microrobots for local communication and cooperation. Here, it is shown that mobile microrobotic swarms with well-defined collective behavior can be designed by engineering magnetic interactions among individual units. Microrobots, dynamically self-assembled from magnetic microparticles into linear chains, locomote on surfaces in response to a precessing magnetic field. Control over precessing magnetic field allows engineering attractive and repulsive interactions among microrobots and, thus, collective order with well-defined spatial organization and stable parallel operation over macroscale distances (≈1 cm) and through confining obstacles. The design approach described here addresses programmable assembly, propulsion, and collective behavior of dense mobile microrobot swarms simultaneously by engineering magnetic interactions and dynamic actuation of microrobots. The presented approach will advance swarm microrobotics by enabling facile and rapid formation of self-organized and reconfigurable microrobotic swarms with programmable collective order and stability.

A stirring system using suspended magnetically-actuated pillars for controlled cell clustering

Controlled stirring of a solution is a household task in most laboratories. However, most stirring methods are perturbative or require vessels with predefined shapes and sizes. Here we propose a novel stirring system based on suspended magnetically-actuated pillars (SMAPs), inspired by the ability of biological flagella and cilia to generate flow. We fabricated flexible, millimeter-scale magnetic pillars grafted on transparent polydimethylsiloxane (PDMS) substrates and built a simple actuation setup to control the motion of the pillars remotely. We tested the system with a standard 24-well plate routinely used in most research laboratories and demonstrate that the magnetic actuation results in robust bending of the pillars and large-scale fluid flow in the wells. Quantitative analysis using computational fluid dynamics modeling indicates that the flow profile in the well can be tuned by modulating the applied magnetic field and the geometries of the well and the pillar. Finally, we show that, by employing the stirring system in a standard cell culture plate, we were able to obtain controlled clustering of cells. The SMAP stirring system is therefore a promising cost-effective and scalable stirring approach for various types of studies involving colloids as well as soft and biological materials.

Shape-Transformable, Fusible Rodlike Swimming Liquid Metal Nanomachine

The T-1000 liquid metal terminator, which can transform and self-repair, represents a dream for decades that robots can fundamentally change our daily life. Until now, some large-scale liquid metal machines have been developed. However, there is no report on nanoscaled liquid metal machines and their biomedical applications. We describe here a shape-transformable and fusible rodlike swimming liquid metal nanomachine, based on the biocompatible and transformable liquid metal gallium. These nanomachines were prepared by a pressure-filter-template technology, and the diameter and length could be controlled by adjusting the nanoporous templates, filter time, and pressure. The as-prepared liquid gallium nanomotors display a core-shell nanorod structure composed of a liquid gallium core and solid gallium oxide shell. Upon exposure to an ultrasound field, the generated acoustic radiation force in the levitation plane can propel them to move autonomously. The liquid metal nanomachine can actively seek cancer cells and transform from a rod to a droplet after drilling into cells owing to the removal of gallium oxide layers in the acidic endosomes. These transformed nanomachines could fuse together inside cells and photothermally kill cancer cells under illumination of near-infrared light. Such acoustically propelled shape-transformable rodlike liquid metal nanomachines have great potential for biomedical applications.

Buffer drains and mucus is transported upward in a tilted mucus clearance assay

Mucociliary clearance (MCC) plays an essential role in maintaining airway sterility and health. Conversely, mucociliary dysfunction is implicated across many airway obstructive diseases. Understanding the necessary requirements for successful MCC is imperative to establish the pathology of disease, as well as to develop therapeutic strategies. Although postural, that is, gravitational, drainage is used clinically to aid mucus clearance, it is ignored in both animal and cell culture models of MCC. In this study, we develop a novel mucus clearance assay that enables the first particle image velocimetry of human bronchial epithelial cell cultures tilted relative to the gravitational field. This tilting system makes it possible to observe drainage of the airway surface liquid and, thus, reveals the effect gravity has on mucociliary clearance. First, we use this assay to demonstrate that beating cilia alone cannot transport buffer upward against gravity. Next, we show the same cilia successfully transporting mucus upward. These results indicate that the biophysical and biochemical properties of mucus enable vertical clearance and that current assay systems are not equipped to determine which properties are required for physiologically relevant vertical mucociliary clearance.

Microfluidic viscometry using magnetically actuated micropost arrays

Here we describe development of a microfluidic viscometer based on arrays of magnetically actuated micro-posts. Quantitative viscosities over a range of three orders of magnitude were determined for samples of less than 20 μL. This represents the first demonstration of quantitative viscometry using driven flexible micropost arrays. Critical to the success of our system is a comprehensive analytical model that includes the mechanical and magnetic properties of the actuating posts, the optical readout, and fluid-structure interactions. We found that alterations of the actuator beat shape as parameterized by the dimensionless “sperm number” must be taken into account to determine the fluid properties from the measured actuator dynamics. Beyond our particular system, the model described here can provide dynamics predictions for a broad class of flexible microactuator designs. We also show how the model can guide the design of new arrays that expand the accessible range of measurements.

Label-free sorting of soft microparticles using a bioinspired synthetic cilia array

Isolating cells of interest from a heterogeneous population has been of critical importance in biological studies and clinical applications. In this study, a novel approach is proposed for utilizing an active ciliary system in microfluidic devices to separate particles based on their physical properties. In this approach, the bottom of the microchannel is covered with an equally spaced cilia array of various patterns which is actuated by an external stimuli. 3D simulations are carried out to study cilia-particle interaction and isolation dynamic in a microfluidic channel. It is observed that these elastic hair-like filaments can influence particle's trajectories differently depending on their biophysical properties. This modeling study utilizes immersed boundary method coupled with the lattice Boltzmann method. Soft particles and cilia are implemented through the spring connected network model and point-particle scheme, respectively. It is shown that cilia array with proper stimulation is able to continuously and non-destructively separate cells into subpopulations based on their size, shape, and stiffness. At the end, a design map for fabrication of a programmable microfluidic device capable of isolating various subpopulations of cells is developed. This biocompatible, label-free design can separate cells/soft microparticles with high throughput which can greatly complement existing separation technologies.

Sperm activation through orbital and self-axis revolutions using an artificial cilia embedded serpentine microfluidic platform

The zebrafish sperm activation profoundly depends upon the homogeneous mixing of the sperm cells with its diluent in a quick succession as it alters the cell's extracellular medium and initiates their motility. Manual stirring, the traditional method for zebrafish sperm activation is tedious, time-consuming, and has a poor outcome. In this aspect, an artificial cilia embedded serpentine microfluidic is designed through which hydrodynamic factors of the microfluidic environment can be precisely regulated to harness uniform mixing, hence ensuring a superior sperm activation. To quantify the sperm motility, computer assisted sperm analysis software (CASA) was used whereas to quantify the generated flow field, micro particle image velocimetry (μPIV) was used. With this proposed microfluidic, 74.4% of the zebrafish sperm were activated which is 20% higher than its currently existing manual measurements. The μPIV analysis demonstrates that the curvature of the microchannel induces an orbital rotation to the flow field along the length of the microchannel together with the artificial cilia actuation which instigates a local rotation to the flow field of the artificial cilia location. The collective rotation in the whole flow field induce vorticity that promotes the change in temporal dynamics of the sperm cells towards their activation.