Performance of a population of independent filaments in lamellipodial protrusion

Nascent adhesions shorten the period of lamellipodium protrusion through the Brownian ratchet mechanism

Directional cell migration is driven by the conversion of oscillating edge motion into lasting periods of leading edge protrusion. Actin polymerization against the membrane and adhesions control edge motion, but the exact mechanisms that determine protrusion period remain elusive. We addressed this by developing a computational model in which polymerization of actin filaments against a deformable membrane and variable adhesion dynamics support edge motion. Consistent with previous reports, our model showed that actin polymerization and adhesion lifetime power protrusion velocity. However, increasing adhesion lifetime decreased the protrusion period. Measurements of adhesion lifetime and edge motion in migrating cells confirmed that adhesion lifetime is associated with and promotes protrusion velocity, but decreased duration. Our model showed that adhesions' control of protrusion persistence originates from the Brownian ratchet mechanism for actin filament polymerization. With longer adhesion lifetime or increased-adhesion density, the proportion of actin filaments tethered to the substrate increased, maintaining filaments against the cell membrane. The reduced filament-membrane distance generated pushing force for high edge velocity, but limited further polymerization needed for protrusion duration. We propose a mechanism for cell edge protrusion in which adhesion strength regulates actin filament polymerization to control the periods of leading edge protrusion.

Leading edge maintenance in migrating cells is an emergent property of branched actin network growth

Animal cell migration is predominantly driven by the coordinated, yet stochastic, polymerization of thousands of nanometer-scale actin filaments across micron-scale cell leading edges. It remains unclear how such inherently noisy processes generate robust cellular behavior. We employed high-speed imaging of migrating neutrophil-like HL-60 cells to explore the fine-scale shape fluctuations that emerge and relax throughout the process of leading edge maintenance. We then developed a minimal stochastic model of the leading edge that reproduces this stable relaxation behavior. Remarkably, we find lamellipodial stability naturally emerges from the interplay between branched actin network growth and leading edge shape – with no additional feedback required – based on a synergy between membrane-proximal branching and lateral spreading of filaments. These results thus demonstrate a novel biological noise-suppression mechanism based entirely on system geometry. Furthermore, our model suggests that the Arp2/3-mediated ~70–80° branching angle optimally smooths lamellipodial shape, addressing its long-mysterious conservation from protists to mammals.

In every human cell, there are tens of millions of proteins which work together to control everything from the cell’s shape to its behavior. One of the most abundant proteins is actin, which organizes itself into filaments that mechanically support the cell and help it to move.

These filaments are very dynamic, with individual actin molecules constantly being added or removed. This allows the cell to build large structures with distinct shapes and properties. Many motile cells, for example, have a structure called a lamellipodium which protrudes at their ‘leading edge’ and pushes them forward. The lamellipodium has a very robust shape that does not vary much between different cell types, or change significantly as cells migrate. But how the tens of thousands of actin molecules inside the lamellipodium organize themselves into this large, stable structure is not fully understood.

To investigate, Garner and Theriot used high-speed video microscopy to track the shape of human cells cultured in the laboratory. As the cells crawled along a glass surface, their leading edge undulated like strings being plucked on a guitar. A computer simulation showed that these ripples can be caused by filaments randomly adding and removing actin molecules.

While these random movements could destabilize the structure of the leading edge, the simulation suggests that another aspect of actin filament growth smooths out any fluctuations in the lamellipodium’s shape. Actin networks in the lamellipodium have a branched configuration, with new strands emerging off each other at an angle like branches in a tree. Garner and Theriot found that the specific angle in which new filaments are added smooths out the lamellipodium’s shape, which may explain why this geometry has persisted throughout evolution.

These findings suggest that the way in which actin filaments join together helps to maintain the shape of large cellular structures. In the future, scientists could use this design principle to build molecular machines that can self-organize into microstructures. These engineered constructs could be used to modulate the activity of living cells that have been damaged by disease.

Microtubule catastrophe under force: mathematical and computational results from a Brownian ratchet model

In the intracellular environment, the intrinsic dynamics of microtubule filaments is often hindered by the presence of barriers of various kind, such as kinetochore complexes and cell cortex, which impact their polymerisation force and dynamical properties such as catastrophe frequency. We present a theoretical study of the effect of a forced barrier, also subjected to thermal noise, on the statistics of catastrophe events in a single microtubule as well as a 'bundle' of two parallel microtubules. For microtubule dynamics, which includes growth, detachment, hydrolysis and the consequent dynamic instability, we employ a one-dimensional discrete stochastic model. The dynamics of the barrier is captured by over-damped Langevin equation, while its interaction with a growing filament is assumed to be hard-core repulsion. A unified treatment of the continuum dynamics of the barrier and the discrete dynamics of the filament is realized using a hybrid Fokker-Planck equation. An explicit mathematical formula for the force-dependent catastrophe frequency of a single microtubule is obtained by solving the above equation, under some assumptions. The prediction agrees well with results of numerical simulations in the appropriate parameter regime. More general situations are studied via numerical simulations. To investigate the extent of 'load-sharing' in a microtubule bundle, and its impact on the frequency of catastrophes, the dynamics of a two-filament bundle is also studied. Here, two parallel, non-interacting microtubules interact with a common, forced barrier. The equations for the two-filament model, when solved using a mean-field assumption, predicts equal sharing of load between the filaments. However, numerical results indicate the existence of a wide spectrum of load-sharing behaviour, which is characterized using a dimensionless parameter.

Thermodynamically consistent treatment of the growth of a biopolymer in the presence of a smooth obstacle interaction potential

We investigate the effect of filament-obstacle interactions on the force-velocity relation of growing biopolymers, via calculations explicitly treating obstacle diffusion and stochastic addition and subtraction of subunits. We first show that the instantaneous subunit on- and off-rates satisfy a rigorous thermodynamic relationship determined by the filament-obstacle interaction potential, which has been violated by several calculations in the literature. The instantaneous rates depend not only on the average force on the obstacle but also on the shape of the potential on the nanometer length scale. Basing obstacle-induced reduction of the on-rate entirely on the force, as previous work has often done, is thermodynamically inconsistent and can overestimate the stall force, sometimes by more than a factor of two. We perform simulations and analytic calculations of the force-velocity relation satisfying the thermodynamic relationship. The force-velocity relation can deviate strongly from the Brownian-Ratchet predictions. For shallow potential wells of depth ∼5k_{B}T, which might correspond to transient filament-membrane attachments, the velocity drops more rapidly than predicted by the Brownian-Ratchet model, in some cases by as much as a factor of 50 at an opposing force of only 1 pN. On the other hand, the zero-force velocity is much less affected than would be expected from naive use of the Boltzmann factor. Furthermore, the growth velocity has a surprisingly strong dependence on the obstacle diffusion coefficient even when the dimensionless diffusion coefficient is large. For deep potential wells, as might result from strong filament-membrane links, both the on- and off-rates are reduced significantly, slowing polymerization. Such potentials can sustain pulling forces while polymerizing but only if the attractive well is relatively flat over a region comparable to or greater than the monomer size. For double-well potentials, which have such a flat region, the slowing of polymerization by external pushing force is almost linear up to the stall force in some parameter ranges.

Filament flexibility enhances power transduction of F-actin bundles

The dynamic behavior of bundles of actin filaments growing against a loaded obstacle is investigated through a generalized version of the standard multifilament Brownian Ratchet model in which the (de)polymerizing filaments are treated not as rigid rods but as semiflexible discrete wormlike chains with a realistic value of the persistence length. By stochastic dynamic simulations, we study the relaxation of a bundle of N_f filaments with a staggered seed arrangement against a harmonic trap load in supercritical conditions. Thanks to the time scale separation between the wall motion and the filament size relaxation, mimicking realistic conditions, this setup allows us to extract a full load-velocity curve from a single experiment over the trap force/size range explored. We observe a systematic evolution of steady nonequilibrium states over three regimes of bundle lengths L. A first threshold length Λ marks the transition between the rigid dynamic regime (L < Λ), characterized by the usual rigid filament load-velocity relationship V(F), and the flexible dynamic regime (L > Λ), where the velocity V(F, L) is an increasing function of the bundle length L at a fixed load F, the enhancement being the result of an improved level of work sharing among the filaments induced by flexibility. A second critical length corresponds to the beginning of an unstable regime characterized by a high probability to develop escaping filaments which start growing laterally and thus do not participate anymore in the generation of the polymerization force. This phenomenon prevents the bundle from reaching at this critical length the limit behavior corresponding to perfect load sharing.

Building a dendritic actin filament network branch by branch: models of filament orientation pattern and force generation in lamellipodia

We review mathematical and computational models of the structure, dynamics, and force generation properties of dendritic actin networks. These models have been motivated by the dendritic nucleation model, which provided a mechanistic picture of how the actin cytoskeleton system powers cell motility. We describe how they aimed to explain the self-organization of the branched network into a bimodal distribution of filament orientations peaked at 35° and - 35° with respect to the direction of membrane protrusion, as well as other patterns. Concave and convex force-velocity relationships were derived, depending on network organization, filament, and membrane elasticity and accounting for actin polymerization at the barbed end as a Brownian ratchet. This review also describes models that considered the kinetics and transport of actin and diffuse regulators and mechanical coupling to a substrate, together with explicit modeling of dendritic networks.

Cell-cell adhesion interface: orthogonal and parallel forces from contraction, protrusion, and retraction

The epithelial lateral membrane plays a central role in the integration of intercellular signals and, by doing so, is a principal determinant in the emerging properties of epithelial tissues. Mechanical force, when applied to the lateral cell-cell interface, can modulate the strength of adhesion and influence intercellular dynamics. Yet the relationship between mechanical force and epithelial cell behavior is complex and not completely understood. This commentary aims to provide an investigative look at the usage of cellular forces at the epithelial cell-cell adhesion interface.

Sufficient conditions for the additivity of stall forces generated by multiple filaments or motors

Molecular motors and cytoskeletal filaments work collectively most of the time under opposing forces. This opposing force may be due to cargo carried by motors or resistance coming from the cell membrane pressing against the cytoskeletal filaments. Some recent studies have shown that the collective maximum force (stall force) generated by multiple cytoskeletal filaments or molecular motors may not always be just a simple sum of the stall forces of the individual filaments or motors. To understand this excess or deficit in the collective force, we study a broad class of models of both cytoskeletal filaments and molecular motors. We argue that the stall force generated by a group of filaments or motors is additive, that is, the stall force of N number of filaments (motors) is N times the stall force of one filament (motor), when the system is reversible at stall. Conversely, we show that this additive property typically does not hold true when the system is irreversible at stall. We thus present a novel and unified understanding of the existing models exhibiting such non-addivity, and generalise our arguments by developing new models that demonstrate this phenomena. We also propose a quantity similar to thermodynamic efficiency to easily predict this deviation from stall-force additivity for filament and motor collectives.

Actin filaments growing against a barrier with fluctuating shape

We study force generation by a set of parallel actin filaments growing against a nonrigid obstacle, in the presence of an external load. The filaments polymerize by either moving the whole obstacle, with a large energy cost, or by causing local distortion in its shape which costs much less energy. The nonrigid obstacle also has local thermal fluctuations due to which its shape can change with time and we describe this using fluctuations in the height profile of a one-dimensional interface with Kardar-Parisi-Zhang dynamics. We find the shape fluctuations of the barrier strongly affect the force generation mechanism. The qualitative nature of the force-velocity curve is crucially determined by the relative time scale of filament and barrier dynamics. The height profile of the barrier also shows interesting variation with the external load. Our analytical calculations within mean-field theory show reasonable agreement with our simulation results.

How capping protein enhances actin filament growth and nucleation on biomimetic beads

Capping protein (CP), which caps the growing ends of actin filaments, accelerates actin-based motility. Recent experiments on biomimetic beads have shown that CP also enhances the rate of actin filament nucleation. Proposed explanations for these phenomena include (i) the actin funneling hypothesis (AFH), in which the presence of CP increases the free-actin concentration, and (ii) the monomer gating model, in which CP binding to actin filament barbed ends makes more monomers available for filament nucleation. To establish how CP increases the rates of filament elongation and nucleation on biomimetic beads, we perform a quantitative modeling analysis of actin polymerization, using rate equations that include actin filament nucleation, polymerization and capping, as modified by monomer depletion near the surface of the bead. With one adjustable parameter, our simulation results match previously measured time courses of polymerized actin and filament number. The results support a version of the AFH where CP increases the local actin monomer concentration at the bead surface, but leaves the global free-actin concentration nearly constant. Because the rate of filament nucleation increases with the monomer concentration, the increased local monomer concentration enhances actin filament nucleation. We derive a closed-form formula for the characteristic CP concentration where the local free-actin concentration reaches half the bulk value, and find it to be comparable to the global Arp2/3 complex concentration. We also propose an experimental protocol for distinguishing branching nucleation of filaments from spontaneous nucleation.

A semi-flexible model prediction for the polymerization force exerted by a living F-actin filament on a fixed wall

We consider a single living semi-flexible filament with persistence length ℓp in chemical equilibrium with a solution of free monomers at fixed monomer chemical potential μ1 and fixed temperature T. While one end of the filament is chemically active with single monomer (de)polymerization steps, the other end is grafted normally to a rigid wall to mimic a rigid network from which the filament under consideration emerges. A second rigid wall, parallel to the grafting wall, is fixed at distance L < < ℓp from the filament seed. In supercritical conditions where monomer density ρ1 is higher than the critical density ρ1c, the filament tends to polymerize and impinges onto the second surface which, in suitable conditions (non-escaping filament regime), stops the filament growth. We first establish the grand-potential Ω(μ1, T, L) of this system treated as an ideal reactive mixture, and derive some general properties, in particular the filament size distribution and the force exerted by the living filament on the obstacle wall. We apply this formalism to the semi-flexible, living, discrete Wormlike chain model with step size d and persistence length ℓp, hitting a hard wall. Explicit properties require the computation of the mean force f̄i(L) exerted by the wall at L and associated potential f̄i(L)=-dWi(L)/dL on a filament of fixed size i. By original Monte-Carlo calculations for few filament lengths in a wide range of compression, we justify the use of the weak bending universal expressions of Gholami et al. [Phys. Rev. E 74, 041803 (2006)] over the whole non-escaping filament regime. For a filament of size i with contour length Lc = (i - 1) d, this universal form is rapidly growing from zero (non-compression state) to the buckling value fb(Lc,ℓp)=π(2)kBTℓp4Lc (2) over a compression range much narrower than the size d of a monomer. Employing this universal form for living filaments, we find that the average force exerted by a living filament on a wall at distance L is in practice L independent and very close to the value of the stalling force Fs (H)=(kBT/d)ln(ρˆ1) predicted by Hill, this expression being strictly valid in the rigid filament limit. The average filament force results from the product of the cumulative size fraction x=x(L,ℓp,ρˆ1), where the filament is in contact with the wall, times the buckling force on a filament of size Lc ≈ L, namely, Fs (H)=xfb(L;ℓp). The observed L independence of Fs (H) implies that x ∝ L(-2) for given (ℓp,ρˆ1) and x∝lnρˆ1 for given (ℓp, L). At fixed (L,ρˆ1), one also has x∝ℓp (-1) which indicates that the rigid filament limit ℓp → ∞ is a singular limit in which an infinite force has zero weight. Finally, we derive the physically relevant threshold for filament escaping in the case of actin filaments.

Cost-benefit analysis of the mechanisms that enable migrating cells to sustain motility upon changes in matrix environments

Cells can move through extracellular environments with varying geometries and adhesive properties. Adaptation to these differences is achieved by switching between different modes of motility, including lamellipod-driven and blebbing motility. Further, cells can modulate their level of adhesion to the extracellular matrix (ECM) depending on both the level of force applied to the adhesions and cell intrinsic biochemical properties. We have constructed a computational model of cell motility to investigate how motile cells transition between extracellular environments with varying surface continuity, confinement and adhesion. Changes in migration strategy are an emergent property of cells as the ECM geometry and adhesion changes. The transition into confined environments with discontinuous ECM fibres is sufficient to induce shifts from lamellipod-based to blebbing motility, while changes in confinement alone within a continuous geometry are not. The geometry of the ECM facilitates plasticity, by inducing shifts where the cell has high marginal gain from a mode change, and conserving persistency where the cell can continue movement regardless of the motility mode. This regulation of cell motility is independent of global changes in cytoskeletal properties, but requires locally higher linkage between the actin network and the plasma membrane at the cell rear, and changes in internal cell pressure. In addition to matrix geometry, we consider how cells might transition between ECM of different adhesiveness. We find that this requires positive feedback between the forces cells apply on the adhesion points, and the strength of the cell-ECM adhesions on those sites. This positive feedback leads to the emergence of a small number of highly adhesive cores, similar to focal adhesions. While the range of ECM adhesion levels the cell can invade is expanded with this feedback mechanism; the velocities are lowered for conditions where the positive feedback is not vital. Thus, plasticity of cell motility sacrifices the benefits of specialization, for robustness.

Force-induced dynamical properties of multiple cytoskeletal filaments are distinct from that of single filaments

How cytoskeletal filaments collectively undergo growth and shrinkage is an intriguing question. Collective properties of multiple bio-filaments (actin or microtubules) undergoing hydrolysis have not been studied extensively earlier within simple theoretical frameworks. In this paper, we study the collective dynamical properties of multiple filaments under force, and demonstrate the distinct properties of a multi-filament system in comparison to a single filament. Comparing stochastic simulation results with recent experimental data, we show that multi-filament collective catastrophes are slower than catastrophes of single filaments. Our study also shows further distinctions as follows: (i) force-dependence of the cap-size distribution of multiple filaments are quantitatively different from that of single filaments, (ii) the diffusion constant associated with the system length fluctuations is distinct for multiple filaments, and (iii) switching dynamics of multiple filaments between capped and uncapped states and the fluctuations therein are also distinct. We build a unified picture by establishing interconnections among all these collective phenomena. Additionally, we show that the collapse times during catastrophes can be sharp indicators of collective stall forces exceeding the additive contributions of single filaments.

Power transduction of actin filaments ratcheting in vitro against a load

The actin cytoskeleton has the unique capability of producing pushing forces at the leading edge of motile cells without the implication of molecular motors. This phenomenon has been extensively studied theoretically, and molecular models, including the widely known Brownian ratchet, have been proposed. However, supporting experimental work is lacking, due in part to hardly accessible molecular length scales. We designed an experiment to directly probe the mechanism of force generation in a setup where a population of actin filaments grows against a load applied by magnetic microparticles. The filaments, arranged in stiff bundles by fascin, are constrained to point toward the applied load. In this protrusion-like geometry, we are able to directly measure the velocity of filament elongation and its dependence on force. Using numerical simulations, we provide evidence that our experimental data are consistent with a Brownian ratchet-based model. We further demonstrate the existence of a force regime far below stalling where the mechanical power transduced by the ratcheting filaments to the load is maximal. The actin machinery in migrating cells may tune the number of filaments at the leading edge to work in this force regime.

Branching influences force-velocity curves and length fluctuations in actin networks

We investigate collective dynamics of branched actin networks growing against a rigid movable wall constrained by a resistive force. Computing the force velocity relations, we show that the stall force of such networks depends not only on the average number of filaments touching the wall, but also on the amount of fluctuation of the leading edge of the network. These differences arise due to differences in the network architecture, namely, distance between two adjacent branching points and the initial distance of the starting filament from the wall, with their relative magnitudes influencing the nature of the force velocity curves (convex versus concave). We also show that the introduction of branching results in nonmonotonic diffusion constant, a quantity that measures the growth in length fluctuation of the leading edge of the network, as a function of externally applied force. Together our results demonstrate how the collective dynamics of a branched network differs from that of a parallel filament network.

Load sharing in the growth of bundled biopolymers

To elucidate the nature of load sharing in the growth of multiple biopolymers, we perform stochastic simulations of the growth of biopolymer bundles against obstacles under a broad range of conditions and varying assumptions. The obstacle motion due to thermal fluctuations is treated explicitly. We assume the "Perfect Brownian Ratchet" (PBR) model, in which the polymerization rate equals the free-filament rate as soon as the filament-obstacle distance exceeds the monomer size. Accurate closed-form formulas are obtained for the case of a rapidly moving obstacle. We find the following: (1) load sharing is usually sub-perfect in the sense that polymerization is slower than for a single filament carrying the same average force; (2) the sub-perfect behavior becomes significant at a total force proportional to the logarithm or the square root of the number of filaments, depending on the alignment of the filaments; (3) for the special case of slow barrier diffusion and low opposing force, an enhanced obstacle velocity for an increasing number of filaments is possible; (4) the obstacle velocity is very sensitive to the alignment of the filaments in the bundle, with a staggered alignment being an order of magnitude faster than an unstaggered one at forces of only 0.5 pN per filament for 20 filaments; (5) for large numbers of filaments, the power is maximized at a force well below 1 pN per filament; (6) for intermediate values of the obstacle diffusion coefficient, the shape of the force velocity relation is very similar to that for rapid obstacle diffusion.

Communication: Dominance of extreme statistics in a prototype many-body Brownian ratchet

Many forms of cell motility rely on Brownian ratchet mechanisms that involve multiple stochastic processes. We present a computational and theoretical study of the nonequilibrium statistical dynamics of such a many-body ratchet, in the specific form of a growing polymer gel that pushes a diffusing obstacle. We find that oft-neglected correlations among constituent filaments impact steady-state kinetics and significantly deplete the gel's density within molecular distances of its leading edge. These behaviors are captured quantitatively by a self-consistent theory for extreme fluctuations in filaments' spatial distribution.

Closing the loop: lamellipodia dynamics from the perspective of front propagation

We develop a simple physical model that captures the large-scale lamellipodia dynamics in crawling cells and explains the observed spectrum of fish keratocytes behavior. The main ingredients in this description are the geometrical evolution of the lamellipodium leading edge, the dynamic remodeling of the actin network, and the interconnection between them. We deviate from existing theoretical works and consider the lamellipodium leading edge as a propagating front. The agreement of our model with experimental works suggests that the large-scale morphological and migration features exhibited by keratocyte cells are a direct consequence of the closed feedback loop between the shape of the leading edge and the density of the actin network.

Molecular transport modulates the adaptive response of branched actin networks to an external force

Actin networks are an integral part of the cytoskeleton of eukaryotic cells and play an essential role in determining cellular shape and movement. Understanding the underlying mechanism of actin network assembly is of fundamental importance. We developed in this work a minimal motility model and performed stochastic simulations to study mechanical regulation of the growth dynamics of lamellipodia-like branched actin networks, characterized by various force-velocity relations. In such networks, the treadmilling process leads to a concentration gradient of G-actin, and thus G-actin transport is essential to effective actin network assembly. We first explore how capping protein modulates force-velocity relations and then discuss how actin transport due to diffusion and facilitated transport such as advective flow tunes the growth dynamics of the branched actin network. Our work demonstrates the important role of molecular transport in determining the adaptive response of the actin network to an external force.

There is more than one way to model an elephant. Experiment-driven modeling of the actin cytoskeleton

Mathematical modeling has established its value for investigating the interplay of biochemical and mechanical mechanisms underlying actin-based motility. Because of the complex nature of actin dynamics and its regulation, many of these models are phenomenological or conceptual, providing a general understanding of the physics at play. But the wealth of carefully measured kinetic data on the interactions of many of the players in actin biochemistry cries out for the creation of more detailed and accurate models that could permit investigators to dissect interdependent roles of individual molecular components. Moreover, no human mind can assimilate all of the mechanisms underlying complex protein networks; so an additional benefit of a detailed kinetic model is that the numerous binding proteins, signaling mechanisms, and biochemical reactions can be computationally organized in a fully explicit, accessible, visualizable, and reusable structure. In this review, we will focus on how comprehensive and adaptable modeling allows investigators to explain experimental observations and develop testable hypotheses on the intracellular dynamics of the actin cytoskeleton.

Mathematical modeling of eukaryotic cell migration: insights beyond experiments

A migrating cell is a molecular machine made of tens of thousands of short-lived and interacting parts. Understanding migration means understanding the self-organization of these parts into a system of functional units. This task is one of tackling complexity: First, the system integrates numerous chemical and mechanical component processes. Second, these processes are connected in feedback interactions and over a large range of spatial and temporal scales. Third, many processes are stochastic, which leads to heterogeneous migration behaviors. Early on in the research of cell migration it became evident that this complexity exceeds human intuition. Thus, the cell migration community has led the charge to build mathematical models that could integrate the diverse experimental observations and measurements in consistent frameworks, first in conceptual and more recently in molecularly explicit models. The main goal of this review is to sift through a series of important conceptual and explicit mathematical models of cell migration and to evaluate their contribution to the field in their ability to integrate critical experimental data.

Mechanical forces and feedbacks in cell motility

Cell movement is driven by a self-organized assembly of numerous actin polymers and accessory proteins surrounded by a flexible membrane. While the identity of the molecular components involved is largely known, we are still far from understanding how this enormous ensemble of molecules self-organizes into a dynamic motile cell. A great deal of work in the field has focused on the role of biochemical signaling in establishing and maintaining cellular organization. More recently, mechanical forces and feedbacks have emerged as equally important contributors to the large-scale organization of motile cells. Here we review recent progress in the field, focusing on processes related to the actin cytoskeleton and its interplay with the cell membrane.

Branching and capping determine the force-velocity relationships of branching actin networks

A branching actin network is the major engine that drives cell motility. A measure of the effectiveness of an engine is the velocity the engine is able to produce at a given resistance-the force-velocity relationship. Concave force-velocity relationships consist of a force-insensitive region, indicative of an adaptive response. In contrast, convex force-velocity relationships would reflect a passive response. Even in in vitro experiments, branching actin networks can exhibit both concave and convex force-velocity curves. However, the exact mechanism that can explain both force-velocity curves is not yet known. We carried out an agent-based stochastic simulation to explore such a mechanism. We discovered an emergent behavior of a branching actin network: Upon resistance, it remodels itself by increasing the number of filaments growing in contact with the load. The remodeling is favored by branching events and limited by capping. The force-velocity relationship hinges on the relative time-scale between the intrinsic kinetics of the branching actin network and the loading. Shortly after encountering resistance (∼seconds), the force-velocity relationship of the actin network is always convex, as it does not have enough time to remodel itself. A concave force-velocity relationship requires network remodeling at longer time-scales (∼tens of seconds to minutes) and the faster branching event relative to capping. Furthermore, our model explains the observed hysteresis in the force-velocity relationship of actin networks. Our model thus establishes a unified mechanism that can account for both convex and concave force-velocity relationships observed in branching actin networks.

Emergent complexity of the cytoskeleton: from single filaments to tissue

Despite their overwhelming complexity, living cells display a high degree of internal mechanical and functional organization which can largely be attributed to the intracellular biopolymer scaffold, the cytoskeleton. Being a very complex system far from thermodynamic equilibrium, the cytoskeleton's ability to organize is at the same time challenging and fascinating. The extensive amounts of frequently interacting cellular building blocks and their inherent multifunctionality permits highly adaptive behavior and obstructs a purely reductionist approach. Nevertheless (and despite the field's relative novelty), the physics approach has already proved to be extremely successful in revealing very fundamental concepts of cytoskeleton organization and behavior. This review aims at introducing the physics of the cytoskeleton ranging from single biopolymer filaments to multicellular organisms. Throughout this wide range of phenomena, the focus is set on the intertwined nature of the different physical scales (levels of complexity) that give rise to numerous emergent properties by means of self-organization or self-assembly.

Mesoscopic model of actin-based propulsion

Two theoretical models dominate current understanding of actin-based propulsion: microscopic polymerization ratchet model predicts that growing and writhing actin filaments generate forces and movements, while macroscopic elastic propulsion model suggests that deformation and stress of growing actin gel are responsible for the propulsion. We examine both experimentally and computationally the 2D movement of ellipsoidal beads propelled by actin tails and show that neither of the two models can explain the observed bistability of the orientation of the beads. To explain the data, we develop a 2D hybrid mesoscopic model by reconciling these two models such that individual actin filaments undergoing nucleation, elongation, attachment, detachment and capping are embedded into the boundary of a node-spring viscoelastic network representing the macroscopic actin gel. Stochastic simulations of this ‘in silico’ actin network show that the combined effects of the macroscopic elastic deformation and microscopic ratchets can explain the observed bistable orientation of the actin-propelled ellipsoidal beads. To test the theory further, we analyze observed distribution of the curvatures of the trajectories and show that the hybrid model's predictions fit the data. Finally, we demonstrate that the model can explain both concave-up and concave-down force-velocity relations for growing actin networks depending on the characteristic time scale and network recoil. To summarize, we propose that both microscopic polymerization ratchets and macroscopic stresses of the deformable actin network are responsible for the force and movement generation.

There are two major ideas about how actin networks generate force against an obstacle: one is that the force comes directly from the elongation and bending of individual actin filaments against the surface of the obstacle; the other is that a growing actin gel can build up stress around the obstacle to squeeze it forward. Neither of the two models can explain why actin-propelled ellipsoidal beads move with equal bias toward long- and short-axes. We propose a hybrid model by combining those two ideas so that individual actin filaments are embedded into the boundary of a deformable actin gel. Simulations of this model show that the combined effects of pushing from individual filaments and squeezing from the actin network explain the observed bi-orientation of ellipsoidal beads as well as the curvature of trajectories of spherical beads and the force-velocity relation of actin networks.

The Arp2/3 complex is required for lamellipodia extension and directional fibroblast cell migration

Embryonic stem cell–derived fibroblasts with genetic disruption of the Arp2/3 complex are unable to form lamellipodia or undergo sustained directional migration.

The Arp2/3 complex nucleates the formation of the dendritic actin network at the leading edge of motile cells, but it is still unclear if the Arp2/3 complex plays a critical role in lamellipodia protrusion and cell motility. Here, we differentiated motile fibroblast cells from isogenic mouse embryonic stem cells with or without disruption of the ARPC3 gene, which encodes the p21 subunit of the Arp2/3 complex. ARPC3^−/− fibroblasts were unable to extend lamellipodia but generated dynamic leading edges composed primarily of filopodia-like protrusions, with formin proteins (mDia1 and mDia2) concentrated near their tips. The speed of cell migration, as well as the rates of leading edge protrusion and retraction, were comparable between genotypes; however, ARPC3^−/− cells exhibited a strong defect in persistent directional migration. This deficiency correlated with a lack of coordination of the protrusive activities at the leading edge of ARPC3^−/− fibroblasts. These results provide insights into the Arp2/3 complex’s critical role in lamellipodia extension and directional fibroblast migration.

Actin disassembly clock determines shape and speed of lamellipodial fragments

A central challenge in motility research is to quantitatively understand how numerous molecular building blocks self-organize to achieve coherent shape and movement on cellular scales. A classic example of such self-organization is lamellipodial motility in which forward translocation is driven by a treadmilling actin network. Actin polymerization has been shown to be mechanically restrained by membrane tension in the lamellipodium. However, it remains unclear how membrane tension is determined, what is responsible for retraction and shaping of the rear boundary, and overall how actin-driven protrusion at the front is coordinated with retraction at the rear. To answer these questions, we utilize lamellipodial fragments from fish epithelial keratocytes which lack a cell body but retain the ability to crawl. The absence of the voluminous cell body in fragments simplifies the relation between lamellipodial geometry and cytoskeletal dynamics. We find that shape and speed are highly correlated over time within individual fragments, whereby faster crawling is accompanied by larger front-to-rear lamellipodial length. Furthermore, we find that the actin network density decays exponentially from front-to-rear indicating a constant net disassembly rate. These findings lead us to a simple hypothesis of a disassembly clock mechanism in which rear position is determined by where the actin network has disassembled enough for membrane tension to crush it and haul it forward. This model allows us to directly relate membrane tension with actin assembly and disassembly dynamics and elucidate the role of the cell membrane as a global mechanical regulator which coordinates protrusion and retraction.

A theoretical analysis of filament length fluctuations in actin and other polymers

Control of the structure and dynamics of the actin cytoskeleton is essential for cell motility and for maintaining the structural integrity of cells. Central to understanding the control of these features is an understanding of the dynamics of actin filaments, first as isolated filaments, then as integrated networks, and finally as networks containing higher-order structures such as bundles, stress fibers and acto-myosin complexes. It is known experimentally that single filaments can exhibit large fluctuations, but a detailed understanding of the transient dynamics involved is still lacking. Here we first study stochastic models of a general system involving two-monomer types that can be analyzed completely, and then we report stochastic simulations on the complete actin model with three monomer types. We systematically examine the transient behavior of filament length dynamics so as to gain a better understanding of the time scales involved in reaching a steady state. We predict the lifetime of a cap of one monomer type and obtain the mean and variance of the survival time of a cap at the filament end, which together determine the filament length fluctuations.

How does the antagonism between capping and anti-capping proteins affect actin network dynamics?

Actin-based cell motility is essential to many biological processes. We built a simplified, three-dimensional computational model and subsequently performed stochastic simulations to study the growth dynamics of lamellipodia-like branched networks. In this work, we shed light on the antagonism between capping and anti-capping proteins in regulating actin dynamics in the filamentous network. We discuss detailed mechanisms by which capping and anti-capping proteins affect the protrusion speed of the actin network and the rate of nucleation of filaments. We computed a phase diagram showing the regimes of motility enhancement and inhibition by these proteins. Our work shows that the effects of capping and anti-capping proteins are mainly transmitted by modulation of the filamentous network density and local availability of monomeric actin. We discovered that the combination of the capping/anti-capping regulatory network with nucleation-promoting proteins introduces robustness and redundancy in cell motility machinery, allowing the cell to easily achieve maximal protrusion speeds under a broader set of conditions. Finally, we discuss distributions of filament lengths under various conditions and speculate on their potential implication for the emergence of filopodia from the lamellipodial network.

Cell motility: the integrating role of the plasma membrane

The plasma membrane is of central importance in the motility process. It defines the boundary separating the intracellular and extracellular environments, and mediates the interactions between a motile cell and its environment. Furthermore, the membrane serves as a dynamic platform for localization of various components which actively participate in all aspects of the motility process, including force generation, adhesion, signaling, and regulation. Membrane transport between internal membranes and the plasma membrane, and in particular polarized membrane transport, facilitates continuous reorganization of the plasma membrane and is thought to be involved in maintaining polarity and recycling of essential components in some motile cell types. Beyond its biochemical composition, the mechanical characteristics of the plasma membrane and, in particular, membrane tension are of central importance in cell motility; membrane tension affects the rates of all the processes which involve membrane deformation including edge extension, endocytosis, and exocytosis. Most importantly, the mechanical characteristics of the membrane and its biochemical composition are tightly intertwined; membrane tension and local curvature are largely determined by the biochemical composition of the membrane and the biochemical reactions taking place; at the same time, curvature and tension affect the localization of components and reaction rates. This review focuses on this dynamic interplay and the feedbacks between the biochemical and biophysical characteristics of the membrane and their effects on cell movement. New insight on these will be crucial for understanding the motility process.

The Eps8/IRSp53/VASP network differentially controls actin capping and bundling in filopodia formation

There is a body of literature that describes the geometry and the physics of filopodia using either stochastic models or partial differential equations and elasticity and coarse-grained theory. Comparatively, there is a paucity of models focusing on the regulation of the network of proteins that control the formation of different actin structures. Using a combination of in-vivo and in-vitro experiments together with a system of ordinary differential equations, we focused on a small number of well-characterized, interacting molecules involved in actin-dependent filopodia formation: the actin remodeler Eps8, whose capping and bundling activities are a function of its ligands, Abi-1 and IRSp53, respectively; VASP and Capping Protein (CP), which exert antagonistic functions in controlling filament elongation. The model emphasizes the essential role of complexes that contain the membrane deforming protein IRSp53, in the process of filopodia initiation. This model accurately accounted for all observations, including a seemingly paradoxical result whereby genetic removal of Eps8 reduced filopodia in HeLa, but increased them in hippocampal neurons, and generated quantitative predictions, which were experimentally verified. The model further permitted us to explain how filopodia are generated in different cellular contexts, depending on the dynamic interaction established by Eps8, IRSp53 and VASP with actin filaments, thus revealing an unexpected plasticity of the signaling network that governs the multifunctional activities of its components in the formation of filopodia.

Cells move and interact with the environment by forming migratory structures composed of self organized polymers of actin. These protrusions can be flat and short surfaces, the lamellipodia, or adopt an elongated, finger-like shape called filopodia. In this article, we analyze the ‘computation’ performed by cells when they opt to form filopodia. We focus our attention on some initiators of filopodia that play an essential role due to their interaction with the cell membrane. We analyze the formation of these filopodia initiators in different genotypes, thus providing a way to rationalize the behaviors of different cells in terms of tendency to form filopodia. Our results, based on the combination of experimental and computational approaches, suggest that cells have developed molecular networks that are extremely flexible in their capability to follow the path leading to filopodia formation. In this sense the role of an element of the network, Eps8, is paradigmatic, as this protein can both induce or inhibit the formation of filopodia depending on the cellular context.

Signaling network triggers and membrane physical properties control the actin cytoskeleton-driven isotropic phase of cell spreading

Cell spreading is regulated by signaling from the integrin receptors that activate intracellular signaling pathways to control actin filament regulatory proteins. We developed a hybrid model of whole-cell spreading in which we modeled the integrin signaling network as ordinary differential equations in multiple compartments, and cell spreading as a three-dimensional stochastic model. The computed activity of the signaling network, represented as time-dependent activity levels of the actin filament regulatory proteins, is used to drive the filament dynamics. We analyzed the hybrid model to understand the role of signaling during the isotropic phase of fibroblasts spreading on fibronectin-coated surfaces. Simulations showed that the isotropic phase of spreading depends on integrin signaling to initiate spreading but not to maintain the spreading dynamics. Simulations predicted that signal flow in the absence of Cdc42 or WASP would reduce the spreading rate but would not affect the shape evolution of the spreading cell. These predictions were verified experimentally. Computational analyses showed that the rate of spreading and the evolution of cell shape are largely controlled by the membrane surface load and membrane bending rigidity, and changing information flow through the integrin signaling network has little effect. Overall, the plasma membrane acts as a damper such that only ∼5% of the actin dynamics capability is needed for isotropic spreading. Thus, the biophysical properties of the plasma membrane can condense varying levels of signaling network activities into a single cohesive macroscopic cellular behavior.

Dynamics of a driven surface

We present a Monte Carlo study of an Edwards-Wilkinson type of surface when it is driven by another random surface which drifts with a rate 0<phi<1. When it is driven by another drifting surface, it is shown to be of the Kardar-Parisi-Zhang (KPZ) type; we show that the asymptotic drift of its center of mass is preceded by a subdiffusive regime characterized by an effective exponent whose value is slightly less than that of the KPZ growth exponent (beta=1/3) because of slow crossover. Our numerical study demonstrates that the growth of fluctuations for the driven surface shows an extremely slow crossover to the KPZ regime observable only for very large system sizes. The equilibrium fluctuation of the surface exhibits a minimum at a certain driving rate phi*, which separates the regimes of entropic repulsion and entropic compliance. Since our model of interacting surfaces is a generalization of the Brownian Ratchet model for protrusions of biological cell membranes, we discuss it vis-a-vis the standard load-velocity relationship, and we compare the present model membrane to cell membranes.

Mechano-chemical feedbacks regulate actin mesh growth in lamellipodial protrusions

During cell motion on a substratum, eukaryotic cells project sheetlike lamellipodia which contain a dynamically remodeling three-dimensional actin mesh. A number of regulatory proteins and subtle mechano-chemical couplings determine the lamellipodial protrusion dynamics. To study these processes, we constructed a microscopic physico-chemical computational model, which incorporates a number of fundamental reaction and diffusion processes, treated in a fully stochastic manner. Our work sheds light on the way lamellipodial protrusion dynamics is affected by the concentrations of actin and actin-binding proteins. In particular, we found that protrusion speed saturates at very high actin concentrations, where filament nucleation does not keep up with protrusion. This results in sparse filamentous networks, and, consequently, high resistance forces on individual filaments. We also observed maxima in lamellipodial growth rates as a function of Arp2/3, a nucleating protein, and capping proteins. We provide detailed physical explanations behind these effects. In particular, our work supports the actin-funneling-hypothesis explanation of protrusion speed enhancement at low capping protein concentrations. Our computational results are in agreement with a number of related experiments. Overall, our work emphasizes that elongation and nucleation processes work highly cooperatively in determining the optimal protrusion speed for the actin mesh in lamellipodia.

Actin disassembly 'clock' and membrane tension determine cell shape and turning: a mathematical model

Motile cells regulate their shape and movements largely by remodeling the actin cytoskeleton. Principles of this regulation are becoming clear for simple-shaped steadily crawling cells, such as fish keratocytes. In particular, the shape of the leading edge and sides of the lamellipodium-cell motile appendage-is determined by graded actin distribution at the cell boundary, so that the denser actin network at the front grows, while sparser actin filaments at the sides are stalled by membrane tension. Shaping of the cell rear is less understood. Here we theoretically examine the hypothesis that the cell rear is shaped by the disassembly clock: the front-to-rear lamellipodial width is defined by the time needed for the actin-adhesion network to disassemble to the point at which the membrane tension can crush this network. We demonstrate that the theory predicts the observed cell shapes. Furthermore, turning of the cells can be explained by biases in the actin distribution. We discuss experimental implications of this hypothesis.

Effects of molecular-scale processes on observable growth properties of actin networks

The properties of actin network growth against a flat obstacle are studied using several different sets of molecular-level assumptions regarding filament growth and nucleation. These assumptions are incorporated into a multifilament methodology which treats both the distribution of filament orientations and bending of filaments. Three single-filament force-generation mechanisms in the literature are compared within this framework. Each mechanism is treated using two different filament nucleation modes, namely, spontaneous nucleation and branching off pre-existing filaments. We find that the shape of the force-velocity relation depends mainly on the ratio of the thermodynamic and mechanical stall forces of the filaments. If the thermodynamic stall force greatly exceeds the mechanical stall force, the velocity drops abruptly to zero when the mechanical stall force is reached; otherwise, it goes more gradually to zero. In addition, branching nucleation gives a steeper increase in the filament number with opposing force than spontaneous nucleation does. Finally, the zero-force velocity of the obstacle as a function of the detachment and capping rates differs significantly between the different single-filament growth mechanisms. Experiments are proposed to use these differences to discriminate between the network growth models.

The shape of motile cells

Motile cells - fan-like keratocytes, hand-shaped nerve growth cones, polygonal fibroblasts, to name but a few - come in different shapes and sizes. We discuss the origins of this diversity as well as what shape tells us about the physics and biochemistry underlying cell movement. We start with geometric rules describing cell-edge kinetics that govern cell shape, followed by a discussion of the underlying biophysics; we consider actin treadmilling, actin-myosin contraction, cell-membrane deformations, adhesion, and the complex interactions between these modules, as well as their regulation by microtubules and Rho GTPases. Focusing on several different cell types, including keratocytes and fibroblasts, we discuss how dynamic cell morphology emerges from the interplay between the different motility modules and the environment.

Inside view of cell locomotion through single-molecule: fast F-/G-actin cycle and G-actin regulation of polymer restoration

The actin cytoskeleton drives cell locomotion and tissue remodeling. The invention of live-cell fluorescence single-molecule imaging opened a window for direct viewing of the actin remodeling processes in the cell. Since then, a number of unanticipated molecular functions have been revealed. One is the mechanism of F-actin network breakdown. In lamellipodia, one third of newly polymerized F-actin disassembles within 10 seconds. This fast F-actin turnover is facilitated by the filament severing/disrupting activity involving cofilin and AIP1. Astoundingly fast dissociation kinetics of the barbed end interactors including capping protein suggests that F-actin turnover might proceed through repetitive disruption/reassembly of the filament near the barbed end. The picture of actin polymerization is also being revealed. At the leading edge of the cell, Arp2/3 complex is highly activated in a narrow edge region. In contrast, mDia1 and its related Formin homology proteins display a long-distance directional molecular movement using their processive actin capping ability. Recently, these two independently-developed projects converged into a discovery of the spatiotemporal coupling between mDia1-mediated filament nucleation and actin disassembly. Presumably, the local concentration fluctuation of G-actin regulates the actin nucleation efficiency of specific actin nucleators including mDia1. Pharmacological perturbation and quantitative molecular behavior analysis synergize to reveal hidden molecular linkages in the actin turnover cycle and cell signaling.

Use of virtual cell in studies of cellular dynamics

The Virtual Cell (VCell) is a unique computational environment for modeling and simulation of cell biology. It has been specifically designed to be a tool for a wide range of scientists, from experimental cell biologists to theoretical biophysicists. The models created with VCell can range from the simple, to evaluate hypotheses or to interpret experimental data, to complex multilayered models used to probe the predicted behavior of spatially resolved, highly nonlinear systems. In this chapter, we discuss modeling capabilities of VCell and demonstrate representative examples of the models published by the VCell users.

Actin dynamics: from nanoscale to microscale

The dynamic nature of actin in cells manifests itself constantly. Polymerization near the cell edge is balanced by depolymerization in the interior, externally induced actin polymerization is followed by depolymerization, and spontaneous oscillations of actin at the cell periphery are frequently seen. I discuss how mathematical modeling relates quantitative measures of actin dynamics to the rates of underlying molecular level processes. The dynamic properties addressed include the rate of actin assembly at the leading edge of a moving cell, the disassembly rates of intracellular actin networks, the polymerization time course in externally stimulated cells, and spontaneous spatiotemporal patterns formed by actin. Although several aspects of actin assembly have been clarified by increasingly sophisticated models, our understanding of rapid actin disassembly is limited, and the origins of nonmonotonic features in externally stimulated actin polymerization remain unclear. Theory has generated several concrete, testable hypotheses for the origins of spontaneous actin waves and cell-edge oscillations. The development and use of more biomimetic systems applicable to the geometry of a cell will be key to obtaining a quantitative understanding of actin dynamics in cells.

How a cell crawls and the role of cortical myosin II

The movements of Dictyostelium discoideum amoebae translocating on a glass surface in the absence of chemoattractant have been reconstructed at 5-second intervals and motion analyzed by employing 3D-DIAS software. A morphometric analysis of pseudopods, the main cell body, and the uropod provides a comprehensive description of the basic motile behavior of a cell in four dimensions (4D), resulting in a list of 18 characteristics. A similar analysis of the myosin II phosphorylation mutant 3XASP reveals a role for the cortical localization of myosin II in the suppression of lateral pseudopods, formation of the uropod, cytoplasmic distribution of cytoplasm in the main cell body, and efficient motility. The results of the morphometric analysis suggest that pseudopods, the main cell body, and the uropod represent three motility compartments that are coordinated for efficient translocation. It provides a contextual framework for interpreting the effects of mutations, inhibitors, and chemoattractants on the basic motile behavior of D. discoideum. The generality of the characteristics of the basic motile behavior of D. discoideum must now be tested by similar 4D analyses of the motility of amoeboid cells of higher eukaryotic cells, in particular human polymorphonuclear leukocytes.

An open model of actin dendritic nucleation

The availability of quantitative experimental data on the kinetics of actin assembly has enabled the construction of many mathematical models focused on explaining specific behaviors of this complex system. However these ad hoc models are generally not reusable or accessible by the large community of actin biologists. In this work, we present a comprehensive model that integrates and unifies much of the in vitro data on the components of the dendritic nucleation mechanism for actin dynamics. More than 300 simulations have been run based on compartmental and three-dimensional spatial versions of this model. Several key findings are highlighted, including an explanation for the sharp boundary between actin assembly and disassembly in the lamellipodia of migrating cells. Because this model, with the simulation results, is "open source", in the sense that it is publicly available and editable through the Virtual Cell database (http://vcell.org), it can be accessed, analyzed, modified, and extended.

Biophysically realistic filament bending dynamics in agent-based biological simulation

An appealing tool for study of the complex biological behaviors that can emerge from networks of simple molecular interactions is an agent-based, computational simulation that explicitly tracks small-scale local interactions--following thousands to millions of states through time. For many critical cell processes (e.g. cytokinetic furrow specification, nuclear centration, cytokinesis), the flexible nature of cytoskeletal filaments is likely to be critical. Any computer model that hopes to explain the complex emergent behaviors in these processes therefore needs to encode filament flexibility in a realistic manner. Here I present a numerically convenient and biophysically realistic method for modeling cytoskeletal filament flexibility in silico. Each cytoskeletal filament is represented by a series of rigid segments linked end-to-end in series with a variable attachment point for the translational elastic element. This connection scheme allows an empirically tuning, for a wide range of segment sizes, viscosities, and time-steps, that endows any filament species with the experimentally observed (or theoretically expected) static force deflection, relaxation time-constant, and thermal writhing motions. I additionally employ a unique pair of elastic elements--one representing the axial and the other the bending rigidity- that formulate the restoring force in terms of single time-step constraint resolution. This method is highly local -adjacent rigid segments of a filament only interact with one another through constraint forces-and is thus well-suited to simulations in which arbitrary additional forces (e.g. those representing interactions of a filament with other bodies or cross-links / entanglements between filaments) may be present. Implementation in code is straightforward; Java source code is available at www.celldynamics.org.

Active gels as a description of the actin-myosin cytoskeleton

This short review presents a qualitative introduction to the hydrodynamic theory of active polar gels and its applications to the mechanics of the cytoskeleton. Active polar gels are viscoelastic materials formed by polar filaments maintained in a nonequilibrium state by constant consumption of energy. In the cytoskeleton of eukaryotic cells, actin filaments are treadmilling and form a viscoelastic gel interacting with myosin molecular motors driven by the hydrolysis of adenosine triphosphate; one can thus consider the actomyosin cytoskeleton as an active polar gel. The hydrodynamic description is generic as it only relies on symmetry arguments. We first use the hydrodynamic approach to discuss the spontaneous generation of flow in an active polar film. Then we give two examples of applications to lamellipodium motility and to instabilities of cortical actin.

Mathematics of cell motility: have we got its number?

Mathematical and computational modeling is rapidly becoming an essential research technique complementing traditional experimental biological methods. However, lack of standard modeling methods, difficulties of translating biological phenomena into mathematical language, and differences in biological and mathematical mentalities continue to hinder the scientific progress. Here we focus on one area-cell motility-characterized by an unusually high modeling activity, largely due to a vast amount of quantitative, biophysical data, 'modular' character of motility, and pioneering vision of the area's experimental leaders. In this review, after brief introduction to biology of cell movements, we discuss quantitative models of actin dynamics, protrusion, adhesion, contraction, and cell shape and movement that made an impact on the process of biological discovery. We also comment on modeling approaches and open questions.

Mechanism of shape determination in motile cells

The shape of motile cells is determined by many dynamic processes spanning several orders of magnitude in space and time, from local polymerization of actin monomers at subsecond timescales to global, cell-scale geometry that may persist for hours. Understanding the mechanism of shape determination in cells has proved to be extremely challenging due to the numerous components involved and the complexity of their interactions. Here we harness the natural phenotypic variability in a large population of motile epithelial keratocytes from fish (Hypsophrys nicaraguensis) to reveal mechanisms of shape determination. We find that the cells inhabit a low-dimensional, highly correlated spectrum of possible functional states. We further show that a model of actin network treadmilling in an inextensible membrane bag can quantitatively recapitulate this spectrum and predict both cell shape and speed. Our model provides a simple biochemical and biophysical basis for the observed morphology and behaviour of motile cells.