Guided by curvature: shaping cells by coupling curved membrane proteins and cytoskeletal forces

Eukaryote cells have flexible membranes that allow them to have a variety of dynamical shapes. The shapes of the cells serve important biological functions, both for cells within an intact tissue, and during embryogenesis and cellular motility. How cells control their shapes and the structures that they form on their surface has been a subject of intensive biological research, exposing the building blocks that cells use to deform their membranes. These processes have also drawn the interest of theoretical physicists, aiming to develop models based on physics, chemistry and nonlinear dynamics. Such models explore quantitatively different possible mechanisms that the cells can employ to initiate the spontaneous formation of shapes and patterns on their membranes. We review here theoretical work where one such class of mechanisms was investigated: the coupling between curved membrane proteins, and the cytoskeletal forces that they recruit. Theory indicates that this coupling gives rise to a rich variety of membrane shapes and dynamics, while experiments indicate that this mechanism appears to drive many cellular shape changes.This article is part of the theme issue 'Self-organization in cell biology'.

Erratum to: Effective temperature of active fluids and sheared soft glassy materials

The authors were notified by their collaborators Golan Bel and Dan Wexler that the expression for the over-damped limit of the kinetic energy of the trapped particle, that they have used in the orignal paper, was in error. They provide the correct expressions in this erratum.

Effective temperature of active fluids and sheared soft glassy materials

The dynamics within active fluids, driven by internal activity of the self-propelled particles, is a subject of intense study in non-equilibrium physics. These systems have been explored using simulations, where the motion of a passive tracer particle is followed. Similar studies have been carried out for a soft glassy material that is driven by shearing its boundaries. In both types of systems the non-equilibrium motion have been quantified by defining a set of "effective temperatures", using both the tracer particle kinetic energy and the fluctuation-dissipation relation. We demonstrate that these effective temperatures extracted from the many-body simulations fit analytical expressions that are obtained for a single active particle inside a visco-elastic fluid. This result provides testable predictions and suggests a unified description for the dynamics inside active systems.

Exclusion and Hierarchy of Time Scales Lead to Spatial Segregation of Molecular Motors in Cellular Protrusions

Molecular motors that carry cargo along biopolymer filaments within cells play a crucial role in the functioning of the cell. In particular, these motors are essential for the formation and maintenance of the cellular protrusions that play key roles in motility and specific functionalities, such as the stereocilia in hair cells. Typically, there are several species of motors, carrying different cargos, that share the same track. Furthermore, it was observed that in the mature stereocilia, the different motors occupy well-segregated bands as a function of distance from the tip. We use a totally asymmetric exclusion process model with two- and three-motor species, to study the conditions that give rise to such spatial patterns. We find that the well-segregated bands appear for motors with a strong hierarchy of attachment or detachment rates. This is a striking example of pattern formation in nonequilibrium, low-dimensional systems.

Pearling instability of membrane tubes driven by curved proteins and actin polymerization

Membrane deformation inside living cells is crucial for the proper shaping of various intracellular organelles and is necessary during the fission/fusion processes that allow membrane recycling and transport (e.g. endocytosis). Proteins that induce membrane curvature play a key role in such processes, mostly by adsorbing to the membrane and forming a scaffold that deforms the membrane according to the curvature of the proteins. In this paper we explore the possibility of membrane tube destabilization through a pearling mechanism enabled by the combined effects of the adsorbed curved proteins and the actin polymerization that they recruit. The pearling instability can serve as the initiation for fission of the tube into vesicles. We find that adsorbed curved proteins are more likely to stabilize the tubes, while the actin polymerization can provide the additional constrictive force needed for the robust instability. We discuss the relevance of the theoretical results to in vivo and in vitro experiments.

Self-organization of waves and pulse trains by molecular motors in cellular protrusions

Actin-based cellular protrusions are an ubiquitous feature of cells, performing a variety of critical functions ranging from cell-cell communication to cell motility. The formation and maintenance of these protrusions relies on the transport of proteins via myosin motors, to the protrusion tip. While tip-directed motion leads to accumulation of motors (and their molecular cargo) at the protrusion tip, it is observed that motors also form rearward moving, periodic and isolated aggregates. The origins and mechanisms of these aggregates, and whether they are important for the recycling of motors, remain open puzzles. Motivated by novel myosin-XV experiments, a mass conserving reaction-diffusion-advection model is proposed. The model incorporates a non-linear cooperative interaction between motors, which converts them between an active and an inactive state. Specifically, the type of aggregate formed (traveling waves or pulse-trains) is linked to the kinetics of motors at the protrusion tip which is introduced by a boundary condition. These pattern selection mechanisms are found not only to qualitatively agree with empirical observations but open new vistas to the transport phenomena by molecular motors in general.

Physical model for the geometry of actin-based cellular protrusions

Actin-based cellular protrusions are a ubiquitous feature of cell morphology, e.g., filopodia and microvilli, serving a huge variety of functions. Despite this, there is still no comprehensive model for the mechanisms that determine the geometry of these protrusions. We present here a detailed computational model that addresses a combination of multiple biochemical and physical processes involved in the dynamic regulation of the shape of these protrusions. We specifically explore the role of actin polymerization in determining both the height and width of the protrusions. Furthermore, we show that our generalized model can explain multiple morphological features of these systems, and account for the effects of specific proteins and mutations.

Dynamics of active semiflexible polymers

Active fluctuations, driven by processes that consume ATP, are prevalent in living cells and are mostly driven by different forms of molecular motors. Such motors often move and transmit forces along biopolymers, which in general can be treated as semiflexible chains. We present a theoretical analysis of the active (out of thermal equilibrium) fluctuation of semiflexible polymers, using both analytical and simulation methods. We find that enhanced diffusion, even superdiffusive, occurs in a well-defined temporal regime, defined by the thermal modes of the chain and the typical timescale of the activity. In addition, we find a dynamic resonance-like condition between the elastic modes of the chain and the duration of the active force, which leads to enhanced spatial correlation of local displacements. These results are in qualitative agreement with observations of cytoskeletal biopolymers, and were recently observed for the dynamics of chromatin in interphase cells. We therefore propose that the interplay between elasticity and activity is driving long-range correlations in our model system, and may also be manifest inside living cells.

Traffic jams and shocks of molecular motors inside cellular protrusions

Molecular motors are involved in key transport processes inside actin-based cellular protrusions. The motors carry cargo proteins to the protrusion tip which participate in regulating the actin polymerization and play a key role in facilitating the growth and formation of such protrusions. It is observed that the motors accumulate at the tips of cellular protrusions and form aggregates that are found to drift towards the protrusion base at the rate of actin treadmilling. We present a one-dimensional driven lattice model, where motors become inactive after delivering their cargo at the tip, or by loosing their cargo to a cargoless neighbor. The results suggest that the experimental observations may be explained by the formation of traffic jams that form at the tip. The model is solved using a novel application of mean-field and shock analysis. We find a new class of shocks that undergo intermittent collapses. Extensions with attachment and detachment events and relevance to experiments are briefly described.

Transport dynamics of molecular motors that switch between an active and inactive state

Molecular motors are involved in key transport processes in the cell. Many of these motors can switch from an active to a nonactive state, either spontaneously or depending on their interaction with other molecules. When active, the motors move processively along the filaments, while when inactive they are stationary. We treat here the simple case of spontaneously switching motors, between the active and inactive states, along an open linear track. We use our recent analogy with vehicular traffic, where we go beyond the mean-field description. We map the phase diagram of this system, and find that it clearly breaks the symmetry between the different phases, as compared to the standard total asymmetric exclusion process. We make several predictions that may be testable using molecular motors in vitro and in living cells.

Timing of Z-ring localization in Escherichia coli

Bacterial cell division takes place in three phases: Z-ring formation at midcell, followed by divisome assembly and building of the septum per se. Using time-lapse microscopy of live bacteria and a high-precision cell edge detection method, we have previously found the true time for the onset of septation, τ(c), and the time between consecutive divisions, τ(g). Here, we combine the above method with measuring the dynamics of the FtsZ-GFP distribution in individual Escherichia coli cells to determine the Z-ring positioning time, τ(z). To analyze the FtsZ-GFP distribution along the cell, we used the integral fluorescence profile (IFP), which was obtained by integrating the fluorescence intensity across the cell width. We showed that the IFP may be approximated by an exponential peak and followed the peak evolution throughout the cell cycle, to find a quantitative criterion for the positioning of the Z-ring and hence the value of τ(z). We defined τ(z) as the transition from oscillatory to stable behavior of the mean IFP position. This criterion was corroborated by comparison of the experimental results to a theoretical model for the FtsZ dynamics, driven by Min oscillations. We found that τ(z) < τ(c) for all the cells that were analyzed. Moreover, our data suggested that τ(z) is independent of τ(c), τ(g) and the cell length at birth, L(0). These results are consistent with the current understanding of the Z-ring positioning and cell septation processes.

Traction forces during collective cell motion

Collective motion of cell cultures is a process of great interest, as it occurs during morphogenesis, wound healing, and tumor metastasis. During these processes cell cultures move due to the traction forces induced by the individual cells on the surrounding matrix. A recent study [Trepat, et al. (2009). Nat. Phys. 5, 426-430] measured for the first time the traction forces driving collective cell migration and found that they arise throughout the cell culture. The leading 5-10 rows of cell do play a major role in directing the motion of the rest of the culture by having a distinct outwards traction. Fluctuations in the traction forces are an order of magnitude larger than the resultant directional traction at the culture edge and, furthermore, have an exponential distribution. Such exponential distributions are observed for the sizes of adhesion domains within cells, the traction forces produced by single cells, and even in nonbiological nonequilibrium systems, such as sheared granular materials. We discuss these observations and their implications for our understanding of cellular flows within a continuous culture.

Physical model for the width distribution of axons

The distribution of widths of axons was recently investigated, and was found to have a distinct peak at an optimized value. The optimized axon width at the peak may arise from the conflicting demands of minimizing energy consumption and assuring signal transmission reliability. The distribution around this optimized value is found to have a distinct non-Gaussian shape, with an exponential "tail". We propose here a mechanical model whereby this distribution arises from the interplay between the elastic energy of the membrane surrounding the axon core, the osmotic pressure induced by the neurofilaments inside the axon bulk, and active processes that remodel the microtubules and neurofilaments inside the axon. The axon's radius of curvature can be determined by the cell's control of the osmotic pressure difference across the membrane, the membrane tension or by changing the composition of the different components of the membrane. We find that the osmotic pressure, determined by the neurofilaments, seems to be the dominant control parameter.

Exciting cytoskeleton-membrane waves

Propagating waves on the surface of cells, over many micrometers, involve active forces. We investigate here the mechanical excitation of such waves when the membrane is perturbed by an external oscillatory force. The external perturbation may trigger the propagation of such waves away from the force application. This scheme is then suggested as a method to probe the properties of the excitable medium of the cell, and learn about the mechanisms that drive the wave propagation. We then apply these ideas to a specific model of active cellular membrane waves, demonstrating how the response of the system to the external perturbation depends on the properties of the model. The most outstanding feature that we find is that the excited waves exhibit a resonance phenomenon at the frequency corresponding to the tendency of the system to develop a linear instability. Mechanical excitation of membrane waves in cells at different frequencies can therefore be used to characterize the properties of the mechanism underlying the existence of these waves.

Membrane waves driven by actin and Myosin

We present a model which couples the membrane with the protrusive forces of actin polymerization and contractile forces of molecular motors, such as myosin. The actin polymerization at the membrane is activated by freely diffusing membrane proteins that have a spontaneous curvature. Molecular motors are recruited to the polymerizing actin filaments, from a constant reservoir, and produce a contractile force. All the forces and variables are treated in the linear limit. Our results show that for convex membrane proteins the myosin activity gives rise to robust transverse membrane waves, similar to those observed on different cells.

Lateral mobility of proteins in liquid membranes revisited

The biological function of transmembrane proteins is closely related to their insertion, which has most often been studied through their lateral mobility. For >30 years, it has been thought that hardly any information on the size of the diffusing object can be extracted from such experiments. Indeed, the hydrodynamic model developed by Saffman and Delbrück predicts a weak, logarithmic dependence of the diffusion coefficient D with the radius R of the protein. Despite widespread use, its validity has never been thoroughly investigated. To check this model, we measured the diffusion coefficients of various peptides and transmembrane proteins, incorporated into giant unilamellar vesicles of 1-stearoyl-2-oleoyl-sn-glycero-3-phosphocholine (SOPC) or in model bilayers of tunable thickness. We show in this work that, for several integral proteins spanning a large range of sizes, the diffusion coefficient is strongly linked to the protein dimensions. A heuristic model results in a Stokes-like expression for D, (D proportional, variant 1/R), which fits literature data as well as ours. Diffusion measurement is then a fast and fruitful method; it allows determining the oligomerization degree of proteins or studying lipid-protein and protein-protein interactions within bilayers.

Red blood cell membrane fluctuations and shape controlled by ATP-induced cytoskeletal defects

We show theoretically how adenosine 5'-triphosphate (ATP)-induced dynamic dissociations of spectrin filaments (from each other and from the membrane) in the cytoskeleton network of red blood cells (RBC) can explain in a unified manner both the measured fluctuation amplitude as well as the observed shape transformations as a function of intracellular ATP concentration. Static defects can be induced by external stresses such as those present when RBCs pass through small capillaries. We suggest that the partially freed actin at these defect sites may explain the activation of the CFTR membrane-bound protein and the subsequent release of ATP by RBCs subjected to deformations. Our theoretical predictions can be tested by experiments that measure the correlation between variations in the binding of actin to spectrin, the activity of CFTR, and the amount of ATP released.