Locomotion control of Caenorhabditis elegans through confinement.

The model organism Caenorhabditis elegans shows two distinct locomotion patterns in laboratory situations: it swims in low viscosity liquids and it crawls on the surface of an agar gel. This provides a unique opportunity to discern the respective roles of mechanosensation (perception and proprioception) and mechanics in the regulation of locomotion and in the gait selection. Using an original device, we present what to our knowledge are new experiments where the confinement of a worm between a glass plate and a soft agar gel is controlled while recording the worm's motion. We observed that the worm continuously varied its locomotion characteristics from free swimming to slow crawling with increasing confinement so that it was not possible to discriminate between two distinct intrinsic gaits. This unicity of the gait is also proved by the fact that wild-type worms immediately adapted their motion when the imposed confinement was changed with time. We then studied locomotory deficient mutants that also exhibited one single gait and showed that the light touch response was needed for the undulation propagation and that the ciliated sensory neurons participated in the joint selection of motion period and undulation-wave velocity. Our results reveal that the control of maximum curvature, at a sensory or mechanical level, is a key ingredient of the locomotion regulation.

Twisting and buckling: a new undulation mechanism for artificial swimmers.

Among the various locomotion strategies of the animal kingdom, the undulation locomotion is of particular interest for biomimetic applications. In this paper, we present an artificial swimmer set into motion by a new and non-trivial undulation mechanism, based on the twisting and buckling of its body. The swimmer consists of a long cylinder of ferrogel which is polarized transversely and in opposite directions at each extremity. When it is placed on a water film and submitted to a transverse oscillating magnetic field, the worm-like swimmer undulates and swims. Whereas symmetry breaking is due to the field gradient, the undulations of the worm result from a torsional buckling instability as the polarized ends tend to align with the applied magnetic field. The critical magnetic field above which buckling and subsequent swimming is observed may be predicted using elasticity equations including the effect of the magnetic torque. As the length of the worm is varied, several undulation modes are observed which are in good agreement with the bending modes of an elastic rod with free ends.

Instability of the origami of a ferrofluid drop in a magnetic field.

Capillary origami is the wrapping of a usual fluid drop by a planar elastic membrane due to the interplay between capillary and elastic forces. Here, we use a drop of magnetic fluid whose shape is known to strongly depend on an applied magnetic field. We study the quasistatic and dynamical behaviors of such a magnetic capillary origami. We report the observation of an overturning instability that the origami undergoes at a critical magnetic field. This instability is triggered by an interplay between magnetic and gravitational energies in agreement with the theory presented here. Additional effects of elasticity and capillarity on this instability are also discussed.

Capillary origami: spontaneous wrapping of a droplet with an elastic sheet.

The interaction between elasticity and capillarity is used to produce three-dimensional structures through the wrapping of a liquid droplet by a planar sheet. The final encapsulated 3D shape is controlled by tailoring the initial geometry of the flat membrane. Balancing interfacial energy with elastic bending energy provides a critical length scale below which encapsulation cannot occur, which is verified experimentally. This length is found to depend on the thickness as h3/2, a scaling favorable to miniaturization which suggests a new way of mass production of 3D micro- or nanoscale objects.