Investigation of feet functions of large ruminants with a decoupled model of equivalent mechanism

Intelligent Rock-Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment

Rock-climbing robots have significant potential in fieldwork and planetary exploration. However, they currently face limitations such as a lack of stability and adaptability on extreme terrains, slow locomotion, and single functionality. This study introduces a novel multimodal and adaptive rock-climbing robot (MARCBot), which addresses these limitations through spiny grippers that draw inspiration from morpho-functionalities observed in beetles, arboreal birds, and hoofed animals. This hybrid bioinspired design enables high attachment strength, passive adaptability to different terrains, and quick attachment on rock surfaces. The multimodal functionality of the gripper allows for attachment during climbing and support during walking. A novel control strategy using dynamics and quadratic programming (QP) optimizes attachment wrench distribution, reducing cost-of-transport by 20.03% and 6.05% compared to closed-loop inverse kinematic (CLIK) and virtual model control (VMC) methods, respectively. MARCBot achieved climbing speeds of 0.15 m min-1 on a vertical discrete rock surface under gravity and trotting speeds of up to 0.21 m s-1 on various complex terrains. It is the first robot capable of climbing on rock surfaces and trotting in complex terrains without the need for switching end-effectors. This study highlights significant advancements in climbing and multimodal locomotion for robots in extreme environments.

Intrinsic signalling factors associated with cancer cell-cell fusion

Cellular fusion e.g. between cancer cells and normal cells represents a stepwise process that is tightly regulated. During a pre-hybrid preparation program somatic cells and/or cancer cells are promoted to a pro-fusogenic state as a prerequisite to prepare a fusion process. A pro-fusogenic state requires significant changes including restructure of the cytoskeleton, e.g., by the formation of F-actin. Moreover, distinct plasma membrane lipids such as phosphatidylserine play an important role during cell fusion. In addition, the expression of distinct fusogenic factors such as syncytins and corresponding receptors are of fundamental importance to enable cellular mergers. Subsequent hybrid formation and fusion are followed by a post-hybrid selection process. Fusion among normal cells is important and often required during organismal development. Cancer cells fusion appears more rarely and is associated with the generation of new cancer hybrid cell populations. These cancer hybrid cells contribute to an elevated tumour plasticity by altered metastatic behaviour, changes in therapeutic and apoptotic responses, and even in the formation of cancer stem/ initiating cells. While many parts within this multi-step cascade are still poorly understood, this review article predominantly focusses on the intracellular necessities for fusion among cancer cells or with other cell populations of the tumour microenvironment. Video Abstract.

Newly described anatomical opening on forelimb tendon in the artiodactyls and its relation to knee clicks

To understand which morphological/anatomical parts may be responsible in artiodactyl ungulates for the clicking sound made when moving, this research focuses on the forelimb tendon apparatus where an undescribed opening in the fibrous cuff (manica flexoria), called hereafter for its shape as an “oval window” in the manica flexoria (OWMF), was detected. This oval window was found in 24 of the 25 species of four families (Camelidae, Giraffidae, Cervidae, and Bovidae) evaluated; the exception being in Bos taurus taurus (Domestic cattle). The length and width of the OWMF enabled correct species discrimination between the majority of species, but remained conservative intraspecifically, as it did not differ between the left and right side of the forelimb, third and fourth digits, or between sexes. When evaluating the shape of OWMF in individual species, and measuring its length and width, 18 out of the 24 species investigated had this window as an oval shape, the remaining 25% of species exhibited more oval-oblong shapes with either proximal or distal asymmetry. The function of the OWMF in the thoracic autopodium of most ruminant even-toed ungulates is not yet fully understood. Its most likely function is to help balance the pressure inside the ligament cuff and reduce the friction of the touching surfaces of the muscle tendons—thus facilitating the movement of the digits when walking. None of the absolute or relative OWMF parameters fit exclusively with the occurrence and distribution of knee-clicks produced by some bovids and cervids during movement, so the mechanism responsible for this sound remains cryptic from the present anatomical perspective.

YAP1 nuclear efflux and transcriptional reprograming follow membrane diminution upon VSV-G-induced cell fusion

Cells in many tissues, such as bone, muscle, and placenta, fuse into syncytia to acquire new functions and transcriptional programs. While it is known that fused cells are specialized, it is unclear whether cell-fusion itself contributes to programmatic-changes that generate the new cellular state. Here, we address this by employing a fusogen-mediated, cell-fusion system to create syncytia from undifferentiated cells. RNA-Seq analysis reveals VSV-G-induced cell fusion precedes transcriptional changes. To gain mechanistic insights, we measure the plasma membrane surface area after cell-fusion and observe it diminishes through increases in endocytosis. Consequently, glucose transporters internalize, and cytoplasmic glucose and ATP transiently decrease. This reduced energetic state activates AMPK, which inhibits YAP1, causing transcriptional-reprogramming and cell-cycle arrest. Impairing either endocytosis or AMPK activity prevents YAP1 inhibition and cell-cycle arrest after fusion. Together, these data demonstrate plasma membrane diminishment upon cell-fusion causes transient nutrient stress that may promote transcriptional-reprogramming independent from extrinsic cues.

The Passive Contact Stability of Blue Sheep Hoof Based on Structure, Mechanical Properties, and Surface Morphology

As the only component that contacts the ground and rock, the hooves of blue sheep may play a crucial role in their excellent climbing abilities. In this study, we used a combination of techniques, including scanning electron microscopy, infrared spectroscopy and nanoindentation, to characterize the surface morphology, structure, material composition, and mechanical properties of blue sheep hoof and investigate the potential contributions of these properties to the establishment of passive contact stability. Straight and curled microscopic lamellar morphology were found on the hoof surfaces. The cross section of the hoof revealed four layers, and each layer had a unique structure. Finite element analysis was employed to verify that the surface morphology and microstructure effectively contributed to the slip resistance and impact cushioning, respectively. Analyses of the energy and infrared spectra showed that the organic and inorganic substances in different regions of the hoof had similar components but different contents of those components. The hoof was mainly composed of keratin. From the outside to the inside, gradients in both the modulus and hardness were observed. These factors help the hoof alleviate high impact strengths and increase contact stability. These findings further our understanding of the unique mechanism of blue sheep hoof and may help in the development of novel biomimetic materials and mechanical components with enhanced friction and contact stability properties.