Deformable self-propelled particles

Cell shape and orientation control galvanotactic accuracy

Eukaryotic cells sense and follow electric fields during wound healing and embryogenesis - this is called galvanotaxis. Galvanotaxis is believed to be driven by the redistribution of "sensors" - potentially transmembrane proteins or other molecules - through electrophoresis and electroosmosis. Here, we update our previous model of the limits of galvanotaxis due to the stochasticity of sensor movements to account for cell shape and orientation. Computing the Fisher information shows that, in principle, cells have more information about the electric field direction when their long axis is parallel to the field. However, for weak fields, maximum-likelihood estimators may have lower variability when the cell's long axis is perpendicular to the field. In an alternate possibility, we find that if cells instead estimate the field direction by taking the average of all the sensor locations as its directional cue ("vector sum"), this introduces a bias towards the short axis, an effect not present for isotropic cells. We also explore the possibility that cell elongation arises downstream of sensor redistribution. We argue that if sensors migrate to the cell's rear, the cell will tend to expand perpendicular the field - as is more commonly observed - but if sensors migrate to the front, the cell will tend to elongate parallel to the field.

Deformation dynamics of an oil droplet into a crescent shape during intermittent motion

A paraffin droplet containing camphor and oil red O (dye) floating on the water surface shows spontaneous motion and deformation generated by the surface tension gradient around the droplet. We focused on the intermittent motion with a pronounced deformation into a crescent shape observed at specific concentrations of camphor and oil red O. We quantitatively analyzed the time changes in the droplet deformation and investigated the role of the oil red O by measuring the time-dependent paraffin-water interfacial tension with the pendant drop method. The observed effect can be explained by the active role of the oil red O molecules at the paraffin-water interface. The interfacial tension decreases gradually after the interface formation, allowing for the dynamic deformation of the droplet. The combination of the decrease in interfacial tension and the reduction in driving force related to camphor outflow generates intermittent motion with dynamic deformation into a crescent shape.

Stochastic motion under nonlinear friction representing shear thinning

We study stochastic motion under a nonlinear frictional force that levels off with increasing velocity. Specifically, our frictional force is of the so-called Coulomb-tanh type. At small speed, it increases approximately linearly with velocity, while at large speed, it approaches a constant magnitude, similarly to solid (dry, Coulomb) friction. In one spatial dimension, a formal analogy between the associated Fokker-Planck equation and the Schrödinger equation for a quantum mechanical oscillator in a nonharmonic Pöschl-Teller potential is revealed. Then, the stationary velocity statistics can be treated analytically. From such analytical considerations, we determine associated diffusion coefficients, which we confirm by agent-based simulations. Moreover, from such simulations and from numerically solving the associated Fokker-Planck equation, we find that the spatial distribution function, starting from an initial Gaussian shape, develops tails that appear exponential at intermediate timescales. At small magnitudes of stochastic driving, the velocity distribution resembles the case of linear friction, while at large magnitudes, it rather approaches the case of solid (dry, Coulomb) friction. The same is true for diffusion coefficients. In a certain sense thus interpolating between the two extreme cases of linear friction and solid (dry, Coulomb) friction, our approach should be useful to describe several cases of practical relevance. For instance, a reduced increase in friction with increasing relative speed is typical of shear-thinning behavior. Therefore, driven motion in shear-thinning environments is one specific example to which our description may be applied.

A cell membrane model that reproduces cortical flow-driven cell migration and collective movement

Many fundamental biological processes are dependent on cellular migration. Although the mechanical mechanisms of single-cell migration are relatively well understood, those underlying migration of multiple cells adhered to each other in a cluster, referred to as cluster migration, are poorly understood. A key reason for this knowledge gap is that many forces-including contraction forces from actomyosin networks, hydrostatic pressure from the cytosol, frictional forces from the substrate, and forces from adjacent cells-contribute to cell cluster movement, making it challenging to model, and ultimately elucidate, the final result of these forces. This paper describes a two-dimensional cell membrane model that represents cells on a substrate with polygons and expresses various mechanical forces on the cell surface, keeping these forces balanced at all times by neglecting cell inertia. The model is discrete but equivalent to a continuous model if appropriate replacement rules for cell surface segments are chosen. When cells are given a polarity, expressed by a direction-dependent surface tension reflecting the location dependence of contraction and adhesion on a cell boundary, the cell surface begins to flow from front to rear as a result of force balance. This flow produces unidirectional cell movement, not only for a single cell but also for multiple cells in a cluster, with migration speeds that coincide with analytical results from a continuous model. Further, if the direction of cell polarity is tilted with respect to the cluster center, surface flow induces cell cluster rotation. The reason why this model moves while keeping force balance on cell surface (i.e., under no net forces from outside) is because of the implicit inflow and outflow of cell surface components through the inside of the cell. An analytical formula connecting cell migration speed and turnover rate of cell surface components is presented.

Self-emergent vortex flow of microtubule and kinesin in cell-sized droplets under water/water phase separation

By facilitating a water/water phase separation (w/wPS), crowded biopolymers in cells form droplets that contribute to the spatial localization of biological components and their biochemical reactions. However, their influence on mechanical processes driven by protein motors has not been well studied. Here, we show that the w/wPS droplet spontaneously entraps kinesins as well as microtubules (MTs) and generates a micrometre-scale vortex flow inside the droplet. Active droplets with a size of 10-100 µm are generated through w/wPS of dextran and polyethylene glycol mixed with MTs, molecular-engineered chimeric four-headed kinesins and ATP after mechanical mixing. MTs and kinesin rapidly created contractile network accumulated at the interface of the droplet and gradually generated vortical flow, which can drive translational motion of a droplet. Our work reveals that the interface of w/wPS contributes not only to chemical processes but also produces mechanical motion by assembling species of protein motors in a functioning manner.

Physical biomarkers for human hematopoietic stem and progenitor cells

Adhesion of hematopoietic stem and progenitor cells (HSPCs) to the bone marrow niche plays critical roles in the maintenance of the most primitive HSPCs. The interactions of HSPC-niche interactions are clinically relevant in acute myeloid leukemia (AML), because (i) leukemia-initiating cells adhered to the marrow niche are protected from the cytotoxic effect by chemotherapy and (ii) mobilization of HSPCs from healthy donors' bone marrow is crucial for the effective stem cell transplantation. However, although many clinical agents have been developed for the HSPC mobilization, the effects caused by the extrinsic molecular cues were traditionally evaluated based on phenomenological observations. This review highlights the recent interdisciplinary challenges of hematologists, biophysicists and cell biologists towards the design of defined in vitro niche models and the development of physical biomarkers for quantitative indexing of differential effects of clinical agents on human HSPCs.

Glassy Dynamics in Chiral Fluids

Chiral active matter is enjoying a rapid increase of interest, spurred by the rich variety of asymmetries that can be attained in, e.g., the shape or self-propulsion mechanism of active particles. Though this has already led to the observance of so-called chiral crystals, active chiral glasses remain largely unexplored. A possible reason for this could be the naive expectation that interactions dominate the glassy dynamics and the details of the active motion become increasingly less relevant. Here, we show that quite the opposite is true by studying the glassy dynamics of interacting chiral active Brownian particles. We demonstrate that when our chiral fluid is pushed to glassy conditions, it exhibits highly nontrivial dynamics, especially compared to a standard linear active fluid such as common active Brownian particles. Despite the added complexity, we are still able to present a full rationalization for all identified dynamical regimes. Most notably, we introduce a new "hammering" mechanism, unique to rapidly spinning particles in high-density conditions, that can fluidize a chiral active solid.

Coupling cell shape and velocity leads to oscillation and circling in keratocyte galvanotaxis

During wound healing, fish keratocyte cells undergo galvanotaxis where they follow a wound-induced electric field. In addition to their stereotypical persistent motion, keratocytes can develop circular motion without a field or oscillate while crawling in the field direction. We developed a coarse-grained phenomenological model that captures these keratocyte behaviors. We fit this model to experimental data on keratocyte response to an electric field being turned on. A critical element of our model is a tendency for cells to turn toward their long axis, arising from a coupling between cell shape and velocity, which gives rise to oscillatory and circular motion. Galvanotaxis is influenced not only by the field-dependent responses, but also cell speed and cell shape relaxation rate. When the cell reacts to an electric field being turned on, our model predicts that stiff, slow cells react slowly but follow the signal reliably. Cells that polarize and align to the field at a faster rate react more quickly and follow the signal more reliably. When cells are exposed to a field that switches direction rapidly, cells follow the average of field directions, while if the field is switched more slowly, cells follow a "staircase" pattern. Our study indicated that a simple phenomenological model coupling cell speed and shape is sufficient to reproduce a broad variety of different keratocyte behaviors, ranging from circling to oscillation to galvanotactic response, by only varying a few parameters.

Circular motion subject to external alignment under active driving: Nonlinear dynamics and the circle map

Hardly any real self-propelling or actively driven object is perfect. Thus, undisturbed motion will generally not follow straight lines but rather bent or circular trajectories. We here address self-propelled or actively driven objects that move in discrete steps and additionally tend to migrate towards a certain direction by discrete angular adjustment. Overreaction in the angular alignment is possible. This competition implies pronounced nonlinear dynamics including period doubling and chaotic behavior in a broad parameter regime. Such behavior directly affects the appearance of the trajectories. Furthermore, we address collective motion and effects of spatial self-concentration.

Complexity and bifurcations in the motion of a self-propelled rectangle confined in a circular water chamber

We consider the motion of a self-propelled object of rectangular shape inside a circular water chamber. The mathematical model of self-motion includes equations for the orientation and location of the rectangle and reaction-diffusion equation with an effective diffusion coefficient for the time evolution of the surface concentration of active molecules. Numerical simulations of motion were performed for different values of the ratio between the supply rate S and the evaporation rate a of active molecules. Treating S₀ = S/a as a control parameter, we found the critical behavior in variables characterizing the trajectory and identified different types of motion. If the value of S₀ is small, the rectangle rests at the chamber center. For larger S₀, a reciprocal motion during which the rectangle passes through the center is observed. At yet higher supply rates, the star-polygonal motion appears, and the trajectory remains at a distance from the chamber center. In the experiments with a rectangle made of camphor-camphene-polypropylene plastic moving in a Petri dish, we observed the transition from the star-polygonal motion to the reciprocal motion in time. This transition can be understood on the basis of the developed model if we assume that the supply rate decreases in time.

Statistics for an object actively driven by spontaneous symmetry breaking into reversible directions

Propulsion of otherwise passive objects is achieved by mechanisms of active driving. We concentrate on cases in which the direction of active drive is subject to spontaneous symmetry breaking. In our case, this direction will be maintained until a large enough impulse by an additional stochastic force reverses it. Examples may be provided by self-propelled droplets, gliding bacteria stochastically reversing their propulsion direction, or nonpolar vibrated hoppers. The magnitude of active forcing is regarded as constant, and we include the effect of inertial contributions. Interestingly, this situation can formally be mapped to stochastic motion under (dry, solid) Coulomb friction, however, with a negative friction parameter. Diffusion coefficients are calculated by formal mapping to the situation of a quantum-mechanical harmonic oscillator exposed to an additional repulsive delta-potential. Results comprise a ditched or double-peaked velocity distribution and spatial statistics showing outward propagating maxima when starting from initially concentrated arrangements.

Deformable active nematic particles and emerging edge currents in circular confinements

We consider a microscopic field theoretical approach for interacting active nematic particles. With only steric interactions the self-propulsion strength in such systems can lead to different collective behaviour, e.g. synchronized self-spinning and collective translation. The different behaviour results from the delicate interplay between internal nematic structure, particle shape deformation and particle-particle interaction. For intermediate active strength an asymmetric particle shape emerges and leads to chirality and self-spinning crystals. For larger active strength the shape is symmetric and translational collective motion emerges. Within circular confinements, depending on the packing fraction, the self-spinning regime either stabilizes positional and orientational order or can lead to edge currents and global rotation which destroys the synchronized self-spinning crystalline structure.

Critical role of lipid membranes in polarization and migration of cells: a biophysical view

Cell migration plays vital roles in many biologically relevant processes such as tissue morphogenesis and cancer metastasis, and it has fascinated biophysicists over the past several decades. However, despite an increasing number of studies highlighting the orchestration of proteins involved in different signaling pathways, the functional roles of lipid membranes have been essentially overlooked. Lipid membranes are generally considered to be a functionless two-dimensional matrix of proteins, although many proteins regulating cell migration gain functions only after they are recruited to the membrane surface and self-organize their functional domains. In this review, we summarize how the logistical recruitment and release of proteins to and from lipid membranes coordinates complex spatiotemporal molecular processes. As predicted from the classical framework of the Smoluchowski equation of diffusion, lipid/protein membranes serve as a 2D reaction hub that contributes to the effective and robust regulation of polarization and migration of cells involving several competing pathways.

Dynamic Self-Organization of Idealized Migrating Cells by Contact Communication

This Letter investigates what forms of cellular dynamic self-organization are caused through intercellular contact communication based on a theoretical model in which migrating cells perform contact following and contact inhibition and attraction of locomotion. Tuning those strengths causes varieties of dynamic patterns. This further includes a novel form of collective migration, snakelike dynamic assembly. Scrutinizing this pattern reveals that cells in this state can accurately respond to an external directional cue but have no spontaneous global polar order.

Actomyosin Contraction Induces In-Bulk Motility of Cells and Droplets

Cell crawling on two-dimensional surfaces is a relatively well-understood phenomenon that is based on actin polymerization at a cell's front edge and anchoring on a substrate, allowing the cell to pull itself forward. However, some cells, such as cancer cells invading a three-dimensional matrigel, can also swim in the bulk, where surface adhesion is impossible. Although there is strong evidence that the self-organized engine that drives cells forward in the bulk involves myosin, the specific propulsion mechanism remains largely unclear. Here, we propose a minimal model for in-bulk self-motility of a droplet containing an isotropic and compressible contractile gel, representing a cell extract containing a disordered actomyosin network. In our model, contraction mediates a feedback loop between myosin-induced flow and advection-induced myosin accumulation, which leads to clustering and locally enhanced flow. The symmetry of such flow is then spontaneously broken through actomyosin-membrane interactions, leading to self-organized droplet motility relative to the underlying solvent. Depending on the balance between contraction, diffusion, detachment rate of myosin, and effective surface tension, this motion can be either straight or circular. Our simulations and analytical results shed new light on in-bulk myosin-driven cell motility in living cells and provide a framework to design a novel type of synthetic active matter droplet potentially resembling the motility mechanism of biological cells.

Trapping, gliding, vaulting: transport of semiflexible polymers in periodic post arrays

The transport of deformable particles through porous media underlies a wealth of applications ranging from filtration to oil recovery to the transport and spreading of biological agents. Using direct numerical simulations, we analyze the dynamics of semiflexible polymers under the influence of an imposed flow in a structured two-dimensional lattice serving as an idealization of a porous medium. This problem has received much attention in the limit of reptation and for long-chain polymer molecules such as DNA that are transported through micropost arrays for electrophoretic chromatographic separation. In contrast to long entropic molecules, the dynamics of elastic polymers results from a combination of scattering with the obstacles and flow-induced buckling instabilities. We identify three dominant modes of transport that involve trapping, gliding and vaulting of the polymers around the obstacles, and we reveal their essential features using tools from dynamical systems theory. The interplay of these scattering dynamics with transport and deformations in the imposed flow results in the long-time asymptotic dispersion of the center of mass, which we quantify in terms of a hydrodynamic dispersion tensor. We then discuss a simple yet efficient chromatographic device that exploits the competition between different modes of transport to sort filaments in a dilute suspension according to their lengths.

Amoeboid swimming in a compliant channel

Several prokaryotes and eukaryotic cells swim in the presence of deformable and rigid surfaces that form confinement. The most commonly observed examples from biological systems are motility of leukocytes and pathogens present within the blood suspension through a microvascular network, and locomotion of eukaryotic cells such as immune system cells and cancerous cells through interstices between soft interstitial cells and the extracellular matrix within the interstitial tissue. This motivated us to investigate numerically the flow dynamics of amoeboid swimming in a flexible channel. The effects of wall stiffness and channel confinement on the flow dynamics and swimmer motion are studied. The swimmer motion through the flexible channel is substantially decelerated compared to the rigid channel. The strong confinement in the amply flexible channel imprisons the swimmer by severely restricting its forward motion. The swimmer velocity in a stiff channel displays nonmonotonic variation with the confinement while it shows monotonic reduction in a highly flexible channel. The physical rationale behind such distinct velocity behaviour in flexible and rigid channels is illustrated using an instantaneous flow field and flow history displayed by the swimmer. This behavior follows from a subtle interplay between the shape changes exhibited by the swimmer and the wall compliance. This study may aid in understanding the influence of elasticity of the surrounding environment on cell motility in immunological surveillance and invasiveness of cancer cells.

Two-dimensional active motion

The diffusion in two dimensions of noninteracting active particles that follow an arbitrary motility pattern is considered for analysis. A Fokker-Planck-like equation is generalized to take into account an arbitrary distribution of scattered angles of the swimming direction, which encompasses the pattern of active motion of particles that move at constant speed. An exact analytical expression for the marginal probability density of finding a particle on a given position at a given instant, independently of its direction of motion, is provided, and a connection with a generalized diffusion equation is unveiled. Exact analytical expressions for the time dependence of the mean-square displacement and of the kurtosis of the distribution of the particle positions are presented. The analysis is focused in the intermediate-time regime, where the effects of the specific pattern of active motion are conspicuous. For this, it is shown that only the expectation value of the first two harmonics of the scattering angle of the direction of motion are needed. The effects of persistence and of circular motion are discussed for different families of distributions of the scattered direction of motion.

On a simple model that explains inversion of a self-propelled rotor under periodic stop-and-release-operations

We propose a simple mathematical model that describes the time evolution of a self-propelled object on a liquid surface using variables such as object location, surface concentration of active molecules, and hydrodynamic surface flow. The model is applied to simulate the time evolution of a rotor composed of a polygonal plate with camphor pills at its corners. We have qualitatively reproduced results of experiments, in which the inversion of rotational direction under periodic stop-and-release-operations was investigated. The model correctly describes the probability of the inversion as a function of the duration of the phase when the rotor is stopped. Moreover, the model allows to introduce the rotor asymmetry unavoidable in real experiments and study its influence on the studied phenomenon. Our numerical simulations have revealed that the probability of the inversion of rotational direction is determined by the competition among the transport of the camphor molecules by the flow, the intrinsic asymmetry of the rotor, and the noise amplitude.

Dynamics of Active Filaments in Porous Media

The motion of active polymers in a two-dimensional porous medium is shown to depend critically on flexibility, activity, and degree of polymerization. For a given Péclet number, we observe a transition from localization to diffusion as the stiffness of the chains is increased. Whereas stiff chains move almost unhindered through the porous medium, flexible ones spiral and get stuck. Their motion can be accounted for by the model of a continuous time random walk with a renewal process corresponding to unspiraling. The waiting time distribution is shown to develop heavy tails for decreasing stiffness, resulting in subdiffusive and ultimately caged behavior.

Spontaneous spatiotemporal ordering of shape oscillations enhances cell migration

The migration of cells is relevant for processes such as morphogenesis, wound healing, and invasion of cancer cells. In order to move, single cells deform cyclically. However, it is not understood how these shape oscillations influence collective properties. Here we demonstrate, using numerical simulations, that the interplay of directed motion, shape oscillations, and excluded volume enables cells to locally "synchronize" their motion and thus enhance collective migration. Our model captures elongation and contraction of crawling ameboid cells controlled by an internal clock with a fixed period, mimicking the internal cycle of biological cells. We show that shape oscillations are crucial for local rearrangements that induce ordering of neighboring cells according to their internal clocks even in the absence of signaling and regularization. Our findings reveal a novel, purely physical mechanism through which the internal dynamics of cells influences their collective behavior, which is distinct from well known mechanisms like chemotaxis, cell division, and cell-cell adhesion.

Assembly structures and dynamics of active colloidal cells

Many types of active matter are deformable, such as epithelial cells and bacteria. To mimic the feature of deformability, we built a model called an active colloidal cell (ACC), i.e. a vesicle enclosed with self-propelled particles (SPPs), which as a whole can move actively. Based on the model, we then study the role of deformability in the assembly structures and dynamics of ACCs by Langevin dynamics simulation. We find that deformability weakens the self-trapping effect and hence suppresses the clustering and phase separation of the deformable soft ACCs (sACCs). Instead of forming a large compact cluster like ordinary SPPs, sACCs pack into a loose network or porous structure in the phase-separation region. The condensed phase is liquid-like, in which sACCs are strongly compressed and deformed but still keep high motility. The interface between the gas and the condensed phases is blurry and unstable, and the effective interfacial energy is very low. Our work gives new insights into the role of deformability in the assembly of active matter and also provides a reference for further studies on different types of deformable active matter.

Transition from Linear to Circular Motion in Active Spherical-Cap Colloids

Nonspherical self-propelling colloidal particles offer many possibilities for creating a variety of active motions. In this work, we report on the transition from linear to circular motion of active spherical-cap particles near a substrate. Self-propulsion is induced by self-diffusiophoresis by catalytic decomposition of hydrogen peroxide (H₂O₂) on one side of the particle. Asymmetric distribution of reaction products combined with the asymmetric shape of the particle gives rise to two types of motions depending upon the relative orientation of the particle with respect to the underlying substrate. At a low concentration of H₂O₂, linear active motion is observed, whereas increasing the H₂O₂ concentration leads to persistent circular motion. However, the speed of self-propulsion is nearly independent of the size of the particle. The study demonstrates the use of nonspherical particles to create linear and circular motion by varying the fuel concentration.

Modeling of Nanomachine/Micromachine Crowds: Interplay between the Internal State and Surroundings

The activity of biological cells is primarily based on chemical reactions and typically modeled as a reaction-diffusion system. Cells are, however, highly crowded with macromolecules, including a variety of molecular machines such as enzymes. The working cycles of these machines are often coupled with their internal motion (conformational changes). In the crowded environment of a cell, motion interference between neighboring molecules is not negligible, and this interference can affect the reaction dynamics through machine operation. To simulate such a situation, we propose a reaction-diffusion model consisting of particles whose shape depends on an internal state variable, for crowds of nano- to micromachines. The interference between nearby particles is naturally introduced through excluded volume repulsion. In the simulations, we observed segregation and flow-like patterns enhanced by crowding out of relevant molecules, as well as molecular synchronization waves and phase transitions. The presented model is simple and extensible for diverse molecular machinery and may serve as a framework to study the interplay between the mechanical stress/strain network and the chemical reaction network in the cell. Applications to more macroscopic systems, e.g., crowds of cells, are also discussed.

Two types of exclusion interactions for self-propelled objects and collective motion induced by their combination

Exclusive interactions between self-driven objects may play crucial roles in their collective behavior, e.g., in collective migration of living cells. Here, such collective behavior is studied based on a simple but sufficient model taking account the exclusion effects, which incorporate the following two distinct kinds of exclusion interactions in two dimensions: The first is the mechanical exclusion wherein two objects mechanically repel each other when they overlap. The second is the scattering exclusion, wherein the directions along which each object tries to move are modulated to avoid overlapping. We propose a theoretical model based on two principles: (1) Each object maintains its own polarity with a fixed strength and attempts to move into the polarity direction and (2) objects interact with each other through the abovementioned exclusions. Based on this model, we look at the difference of consequences and combinatory effects of these two kinds of exclusions. Furthermore, we calculate the polar order of polarity directions without an external directional bias. Our results suggest that the combination of these two kinds of exclusions leads to effectively inelastic scattering of two objects, which eventually gives rise to global polar ordering. We also find that the traveling band can arise by this mechanism of alignment at the intermediate density, as generally seen in collective motion with polar alignment and investigated in various earlier works. Characteristics of transitions among disordered, traveling band, and homogeneously ordered states of the presented model are investigated, and their similarities and differences with those given by the explicit alignment interaction are discussed.

Memory-Induced Transition from a Persistent Random Walk to Circular Motion for Achiral Microswimmers

We experimentally study the motion of light-activated colloidal microswimmers in a viscoelastic fluid. We find that, in such a non-Newtonian environment, the active colloids undergo an unexpected transition from enhanced angular diffusion to persistent rotational motion above a critical propulsion speed, despite their spherical shape and stiffness. We observe that, in contrast to chiral asymmetric microswimmers, the resulting circular orbits can spontaneously reverse their sense of rotation and exhibit an angular velocity and a radius of curvature that nonlinearly depend on the propulsion speed. By means of a minimal non-Markovian Langevin model for active Brownian motion, we show that these nonequilibrium effects emerge from the delayed response of the fluid with respect to the self-propulsion of the particle without counterpart in Newtonian fluids.

Persistent random deformation model of cells crawling on a gel surface

In general, cells move on a substrate through extension and contraction of the cell body. Though cell movement should be explained by taking into account the effect of such shape fluctuations, past approaches to formulate cell-crawling have not sufficiently quantified the relationship between cell movement (velocity and trajectory) and shape fluctuations based on experimental data regarding actual shaping dynamics. To clarify this relationship, we experimentally characterized cell-crawling in terms of shape fluctuations, especially extension and contraction, by using an elasticity-tunable gel substrate to modulate cell shape. As a result, an amoeboid swimmer-like relation was found to arise between the cell velocity and cell-shape dynamics. To formulate this experimentally-obtained relationship between cell movement and shaping dynamics, we established a persistent random deformation (PRD) model based on equations of a deformable self-propelled particle adopting an amoeboid swimmer-like velocity-shape relationship. The PRD model successfully explains the statistical properties of velocity, trajectory and shaping dynamics of the cells including back-and-forth motion, because the velocity equation exhibits time-reverse symmetry, which is essentially different from previous models. We discuss the possible application of this model to classify the phenotype of cell migration based on the characteristic relation between movement and shaping dynamics.

Theoretical model of chirality-induced helical self-propulsion

We recently reported the experimental realization of a chiral artificial microswimmer exhibiting helical self-propulsion [T. Yamamoto and M. Sano, Soft Matter 13, 3328 (2017)1744-683X10.1039/C7SM00337D]. In the experiment, cholesteric liquid crystal (CLC) droplets dispersed in surfactant solutions swam spontaneously, driven by the Marangoni flow, in helical paths whose handedness is determined by the chirality of the component molecules of CLC. To study the mechanism of the emergence of the helical self-propelled motion, we propose a phenomenological model of the self-propelled helical motion of the CLC droplets. Our model is constructed by symmetry argument in chiral systems, and it describes the dynamics of CLC droplets with coupled time-evolution equations in terms of a velocity, an angular velocity, and a tensor variable representing the symmetry of the helical director field of the droplet. We found that helical motions as well as other chiral motions appear in our model. By investigating bifurcation behaviors between each chiral motion, we found that the chiral coupling terms between the velocity and the angular velocity, the structural anisotropy of the CLC droplet, and the nonlinearity of model equations play a crucial role in the emergence of the helical motion of the CLC droplet.

Swinging motion of active deformable particles in Poiseuille flow

Dynamics of active deformable particles in an external Poiseuille flow is investigated. To make the analysis general, we employ time-evolution equations derived from symmetry considerations that take into account an elliptical shape deformation. First, we clarify the relation of our model to that of rigid active particles. Then, we study the dynamical modes that active deformable particles exhibit by changing the strength of the external flow. We emphasize the difference between the active particles that tend to self-propel parallel to the elliptical shape deformation and those self-propelling perpendicularly. In particular, a swinging motion around the centerline far from the channel walls is discussed in detail.

Collective cell migration: a physics perspective

Cells have traditionally been viewed either as independently moving entities or as somewhat static parts of tissues. However, it is now clear that in many cases, multiple cells coordinate their motions and move as collective entities. Well-studied examples comprise development events, as well as physiological and pathological situations. Different ex vivo model systems have also been investigated. Several recent advances have taken place at the interface between biology and physics, and have benefitted from progress in imaging and microscopy, from the use of microfabrication techniques, as well as from the introduction of quantitative tools and models. We review these interesting developments in quantitative cell biology that also provide rich examples of collective out-of-equilibrium motion.

Effect of body deformability on microswimming

In this work we consider the following question: given a mechanical microswimming mechanism, does increased deformability of the swimmer body hinder or promote the motility of the swimmer? To answer this we run immersed-boundary-lattice-Boltzmann simulations of a microswimmer composed of deformable beads connected with springs. We find that the same deformations in the beads can result in different effects on the swimming velocity, namely an enhancement or a reduction, depending on the other parameters. To understand this we determine analytically the velocity of the swimmer, starting from the forces driving the motion and assuming that the deformations in the beads are known as functions of time and are much smaller than the beads themselves. We find that to the lowest order, only the driving frequency mode of the surface deformations contributes to the swimming velocity, and comparison to the simulations shows that both the velocity-promoting and velocity-hindering effects of bead deformability are reproduced correctly by the theory in the limit of small bead deformations. For the case of active deformations we show that there are critical values of the spring constant - which for a general swimmer corresponds to its main elastic degree of freedom - which decide whether the body deformability is beneficial for motion or not.

Physical models of collective cell motility: from cell to tissue

In this article, we review physics-based models of collective cell motility. We discuss a range of techniques at different scales, ranging from models that represent cells as simple self-propelled particles to phase field models that can represent a cell's shape and dynamics in great detail. We also extensively review the ways in which cells within a tissue choose their direction, the statistics of cell motion, and some simple examples of how cell-cell signaling can interact with collective cell motility. This review also covers in more detail selected recent works on collective cell motion of small numbers of cells on micropatterns, in wound healing, and the chemotaxis of clusters of cells.

Crawling and turning in a minimal reaction-diffusion cell motility model: Coupling cell shape and biochemistry

We study a minimal model of a crawling eukaryotic cell with a chemical polarity controlled by a reaction-diffusion mechanism describing Rho GTPase dynamics. The size, shape, and speed of the cell emerge from the combination of the chemical polarity, which controls the locations where actin polymerization occurs, and the physical properties of the cell, including its membrane tension. We find in our model both highly persistent trajectories, in which the cell crawls in a straight line, and turning trajectories, where the cell transitions from crawling in a line to crawling in a circle. We discuss the controlling variables for this turning instability and argue that turning arises from a coupling between the reaction-diffusion mechanism and the shape of the cell. This emphasizes the surprising features that can arise from simple links between cell mechanics and biochemistry. Our results suggest that similar instabilities may be present in a broad class of biochemical descriptions of cell polarity.

Oscillatory motion of a camphor grain in a one-dimensional finite region

The motion of a self-propelled particle is affected by its surroundings, such as boundaries or external fields. In this paper, we investigated the bifurcation of the motion of a camphor grain, as a simple actual self-propelled system, confined in a one-dimensional finite region. A camphor grain exhibits oscillatory motion or remains at rest around the center position in a one-dimensional finite water channel, depending on the length of the water channel and the resistance coefficient. A mathematical model including the boundary effect is analytically reduced to an ordinary differential equation. Linear stability analysis reveals that the Hopf bifurcation occurs, reflecting the symmetry of the system.

Amoeboid swimming in a channel

Several micro-organisms, such as bacteria, algae, or spermatozoa, use flagellar or ciliary activity to swim in a fluid, while many other micro-organisms instead use ample shape deformation, described as amoeboid, to propel themselves either by crawling on a substrate or swimming. Many eukaryotic cells were believed to require an underlying substratum to migrate (crawl) by using membrane deformation (like blebbing or generation of lamellipodia) but there is now increasing evidence that a large variety of cells (including those of the immune system) can migrate without the assistance of focal adhesion, allowing them to swim as efficiently as they can crawl. This paper details the analysis of amoeboid swimming in a confined fluid by modeling the swimmer as an inextensible membrane deploying local active forces (with zero total force and torque). The swimmer displays a rich behavior: it may settle into a straight trajectory in the channel or navigate from one wall to the other depending on its confinement. The nature of the swimmer is also found to be affected by confinement: the swimmer can behave, on average over one swimming cycle, as a pusher at low confinement, and becomes a puller at higher confinement, or vice versa. The swimmer's nature is thus not an intrinsic property. The scaling of the swimmer velocity V with the force amplitude A is analyzed in detail showing that at small enough A, V∼A(2)/η(2) (where η is the viscosity of the ambient fluid), whereas at large enough A, V is independent of the force and is determined solely by the stroke cycle frequency and the swimmer size. This finding starkly contrasts with models where motion is based on ciliary and flagellar activity, where V∼A/η. To conclude, two definitions of efficiency as put forward in the literature are analyzed with distinct outcomes. We find that one type of efficiency has an optimum as a function of confinement while the other does not. Future perspectives are outlined.

Spontaneous symmetry breaking for geometrical trajectories of actin-based motility in three dimensions

Actin-based motility is important for many cellular processes. In this article we extend our previous studies of an actin-propelled circular disk in two dimensions to an actin-propelled spherical bead in three dimensions. We find that for an achiral load the couplings between the motion of the load and the actin network induce a series of bifurcations, starting with a transition from rest to moving state, followed by a transition from straight to planar curves, and finally a further transition from motion in a plane to one with torsion. To address the intriguing, experimentally observed chiral motility of the bacterium Listeria monocytogenes, we also study the motility of a spherical load with a built-in chirality. For such a chiral load, stable circular trajectories are no longer found in numerical simulations. Instead, helical trajectories with handedness that depends on the chirality of the load are found. Our results reveal the relation between the symmetry of actin network and the trajectories of actin-propelled loads.

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells.

Statistics of actin-propelled trajectories in noisy environments

Actin polymerization is ubiquitously utilized to power the locomotion of eukaryotic cells and pathogenic bacteria in living systems. Inevitably, actin polymerization and depolymerization proceed in a fluctuating environment that renders the locomotion stochastic. Previously, we have introduced a deterministic model that manages to reproduce actin-propelled trajectories in experiments, but not to address fluctuations around them. To remedy this, here we supplement the deterministic model with noise terms. It enables us to compute the effects of fluctuating actin density and forces on the trajectories. Specifically, the mean-squared displacement (MSD) of the trajectories is computed and found to show a super-ballistic scaling with an exponent 3 in the early stage, followed by a crossover to a normal, diffusive scaling of exponent 1 in the late stage. For open-end trajectories such as straights and S-shaped curves, the time of crossover matches the decay time of orientational order of the velocities along trajectories, suggesting that it is the spreading of velocities that leads to the crossover. We show that the super-ballistic scaling of MSD arises from the initial, linearly increasing correlation of velocities, before time translational symmetry is established. When the spreading of velocities reaches a steady state in the long-time limit, short-range correlation then yields a diffusive scaling in MSD. In contrast, close-loop trajectories like circles exhibit localized periodic motion, which inhibits spreading. The initial super-ballistic scaling of MSD arises from velocity correlation that both linearly increases and oscillates in time. Finally, we find that the above statistical features of the trajectories transcend the nature of noises, be it additive or multiplicative, and generalize to other self-propelled systems that are not necessarily actin based.

Mathematical model for self-propelled droplets driven by interfacial tension

We propose a model for the spontaneous motion of a droplet induced by inhomogeneity in interfacial tension. The model is derived from a variation of the Lagrangian of the system and we use a time-discretized Morse flow scheme to perform its numerical simulations. Our model can naturally simulate the dynamics of a single droplet, as well as that of multiple droplets, where the volume of each droplet is conserved. We reproduced the ballistic motion and fission of a droplet, and the collision of two droplets was also examined numerically.

Coarse-grained simulations of an active filament propelled by a self-generated solute gradient

A self-propelling semiflexible filament exhibits a variety of dynamical states depending on the flexibility and activity of the filament. Here we investigate the dynamics of such an active filament using a bead-spring model with the explicit hydrodynamic interactions. The activity in the filament is incorporated by inserting chemically active dimers at regular intervals along the chain. The chemical reactions at the catalytic bead of the dimer produces a self-generated concentration gradient and gives sufficient fuel to exhibit self-propulsion for the filament. Depending upon the rigidity and the configuration, the polymeric filament exhibits three distinct types of spontaneous motion, namely, rotational, snaking, and translational motion. The self-propulsion velocity of the filament for various rigidity and sizes has been calculated, and the factors affecting the propulsion are identified.

Getting drowned in a swirl: Deformable bead-spring model microswimmers in external flow fields

Deformability is a central feature of many types of microswimmers, e.g., for artificially generated self-propelled droplets. Here, we analyze deformable bead-spring microswimmers in an externally imposed solvent flow field as simple theoretical model systems. We focus on their behavior in a circular swirl flow in two spatial dimensions. Linear (straight) two-bead swimmers are found to circle around the swirl with a slight drift to the outside with increasing activity. In contrast to that, we observe for triangular three-bead or squarelike four-bead swimmers a tendency of being drawn into the swirl and finally getting drowned, although a radial inward component is absent in the flow field. During one cycle around the swirl, the self-propulsion direction of an active triangular or squarelike swimmer remains almost constant, while their orbits become deformed exhibiting an "egglike" shape. Over time, the swirl flow induces slight net rotations of these swimmer types, which leads to net rotations of the egg-shaped orbits. Interestingly, in certain cases, the orbital rotation changes sense when the swimmer approaches the flow singularity. Our predictions can be verified in real-space experiments on artificial microswimmers.

Ratchet transport powered by chiral active particles

We numerically investigate the ratchet transport of mixtures of active and passive particles in a transversal asymmetric channel. A big passive particle is immersed in a ‘sea’ of active particles. Due to the chirality of active particles, the longitudinal directed transport is induced by the transversal asymmetry. For the active particles, the chirality completely determines the direction of the ratchet transport, the counterclockwise and clockwise particles move to the opposite directions and can be separated. However, for the passive particle, the transport behavior becomes complicated, the direction is determined by competitions among the chirality, the self-propulsion speed, and the packing fraction. Interestingly, within certain parameters, the passive particle moves to the left, while active particles move to the right. In addition, there exist optimal parameters (the chirality, the height of the barrier, the self-propulsion speed and the packing fraction) at which the rectified efficiency takes its maximal value. Our findings could be used for the experimental pursuit of the ratchet transport powered by chiral active particles.

Deformation of a micro-torque swimmer

The membrane tension of some kinds of ciliates has been suggested to regulate upward and downward swimming velocities under gravity. Despite its biological importance, deformation and membrane tension of a ciliate have not been clarified fully. In this study, we numerically investigated the deformation of a ciliate swimming freely in a fluid otherwise at rest. The cell body was modelled as a capsule with a hyperelastic membrane enclosing a Newtonian fluid. Thrust forces due to the ciliary beat were modelled as torques distributed above the cell body. The effects of membrane elasticity, the aspect ratio of the cell's reference shape, and the density difference between the cell and the surrounding fluid were investigated. The results showed that the cell deformed like a heart shape, when the capillary number was sufficiently large. Under the influence of gravity, the membrane tension at the anterior end decreased in the upward swimming while it increased in the downward swimming. Moreover, gravity-induced deformation caused the cells to move gravitationally downwards or upwards, which resulted in a positive or negative geotaxis-like behaviour with a physical origin. These results are important in understanding the physiology of a ciliate's biological responses to mechanical stimuli.

Amoeboid motion in confined geometry

Many eukaryotic cells undergo frequent shape changes (described as amoeboid motion) that enable them to move forward. We investigate the effect of confinement on a minimal model of amoeboid swimmer. A complex picture emerges: (i) The swimmer's nature (i.e., either pusher or puller) can be modified by confinement, thus suggesting that this is not an intrinsic property of the swimmer. This swimming nature transition stems from intricate internal degrees of freedom of membrane deformation. (ii) The swimming speed might increase with increasing confinement before decreasing again for stronger confinements. (iii) A straight amoeoboid swimmer's trajectory in the channel can become unstable, and ample lateral excursions of the swimmer prevail. This happens for both pusher- and puller-type swimmers. For weak confinement, these excursions are symmetric, while they become asymmetric at stronger confinement, whereby the swimmer is located closer to one of the two walls. In this study, we combine numerical and theoretical analyses.

Cation-Dependent Emergence of Regular Motion of a Float

We report a unique ion-dependent motion of a float at an oil/water interface. The type of motion depended on the cation species that was dissolved in the water. Irregular vibrations occurred when the water contained Ca(2+), back-and-forth motion occurred when the water contained Fe(2+), a type of motion intermediate between these occurred when the water contained Mn(2+), and intermittent long-distance travel occurred when the water contained Fe(3+). This is one of the simplest systems that can be used to show how macroscopic regular motion emerges depending on specific chemicals, which is one of the central issues in the study of biological and biomimetic motions.

Autonomous movement of a chemically powered vesicle

We investigate the diffusio-phoretic motion of a deformable vesicle. A vesicle is built from the linked catalytic and noncatalytic vertices that consumes fuel in the environment and utilize the resulting self-generated concentration gradient to exhibit propulsive motion. Under nonequilibrium conditions it is found that the self-propulsion velocity of the vesicle depends on its shape, which in turn is controlled by the bending rigidity of the membrane and solvent density around it. The self-propulsion velocity of the vesicle for different shapes has been calculated and the factors which affect the velocity are identified.

Physicochemical design and analysis of self-propelled objects that are characteristically sensitive to environments

The development of self-propelled motors that mimic biological motors is an important challenge for the transport of either themselves or some material in a small space, since biological systems exhibit high autonomy and various types of responses, such as taxis and swarming. In this perspective, we review non-living systems that behave like living matter. We especially focus on nonlinearity to enhance autonomy and the response of the system, since characteristic nonlinear phenomena, such as oscillation, synchronization, pattern formation, bifurcation, and hysteresis, are coupled to self-motion of which driving force is the difference in the interfacial tension. Mathematical modelling based on reaction-diffusion equations and equations of motion as well as physicochemical analysis from the point of view of the molecular structure are also important for the design of non-living motors that mimic living motors.