A minimal physical model for curvotaxis driven by curved protein complexes at the cell's leading edge.

Cells often migrate on curved surfaces inside the body, such as curved tissues, blood vessels, or highly curved protrusions of other cells. Recent in vitro experiments provide clear evidence that motile cells are affected by the curvature of the substrate on which they migrate, preferring certain curvatures to others, termed "curvotaxis." The origin and underlying mechanism that gives rise to this curvature sensitivity are not well understood. Here, we employ a "minimal cell" model which is composed of a vesicle that contains curved membrane protein complexes, that exert protrusive forces on the membrane (representing the pressure due to actin polymerization). This minimal-cell model gives rise to spontaneous emergence of a motile phenotype, driven by a lamellipodia-like leading edge. By systematically screening the behavior of this model on different types of curved substrates (sinusoidal, cylinder, and tube), we show that minimal ingredients and energy terms capture the experimental data. The model recovers the observed migration on the sinusoidal substrate, where cells move along the grooves (minima), while avoiding motion along the ridges. In addition, the model predicts the tendency of cells to migrate circumferentially on convex substrates and axially on concave ones. Both of these predictions are verified experimentally, on several cell types. Altogether, our results identify the minimization of membrane-substrate adhesion energy and binding energy between the membrane protein complexes as key players of curvotaxis in cell migration.

Experimental and theoretical model for the origin of coiling of cellular protrusions around fibers.

Protrusions at the leading-edge of a cell play an important role in sensing the extracellular cues during cellular spreading and motility. Recent studies provided indications that these protrusions wrap (coil) around the extracellular fibers. However, the physics of this coiling process, and the mechanisms that drive it, are not well understood. We present a combined theoretical and experimental study of the coiling of cellular protrusions on fibers of different geometry. Our theoretical model describes membrane protrusions that are produced by curved membrane proteins that recruit the protrusive forces of actin polymerization, and identifies the role of bending and adhesion energies in orienting the leading-edges of the protrusions along the azimuthal (coiling) direction. Our model predicts that the cell's leading-edge coils on fibers with circular cross-section (above some critical radius), but the coiling ceases for flattened fibers of highly elliptical cross-section. These predictions are verified by 3D visualization and quantitation of coiling on suspended fibers using Dual-View light-sheet microscopy (diSPIM). Overall, we provide a theoretical framework, supported by experiments, which explains the physical origin of the coiling phenomenon.

A minimal cell model for lamellipodia-based cellular dynamics and migration.

One ubiquitous cellular structure for performing various tasks, such as spreading and migration over external surfaces, is the sheet-like protrusion called a lamellipodium, which propels the leading edge of the cell. Despite the detailed knowledge about the many components of this cellular structure, it is not yet fully understood how these components self-organize spatiotemporally to form lamellipodia. We review here recent theoretical works where we have demonstrated that membrane-bound protein complexes that have intrinsic curvature and recruit the protrusive forces of the cytoskeleton result in a simple, yet highly robust, organizing feedback mechanism that organizes the cytoskeleton and the membrane. This self-organization mechanism accounts for the formation of flat lamellipodia at the leading edge of cells spreading over adhesive substrates, allowing for the emergence of a polarized, motile 'minimal cell' model. The same mechanism describes how lamellipodia organize to drive robust engulfment of particles during phagocytosis and explains in simple physical terms the spreading and migration of cells over fibers and other curved surfaces. This Review highlights that despite the complexity of cellular composition, there might be simple general physical principles that are utilized by the cell to drive cellular shape dynamics.

A theoretical model of efficient phagocytosis driven by curved membrane proteins and active cytoskeleton forces.

Phagocytosis is the process of engulfment and internalization of comparatively large particles by cells, and plays a central role in the functioning of our immune system. We study the process of phagocytosis by considering a simplified coarse grained model of a three-dimensional vesicle, having a uniform adhesion interaction with a rigid particle, and containing curved membrane-bound protein complexes or curved membrane nano-domains, which in turn recruit active cytoskeletal forces. Complete engulfment is achieved when the bending energy cost of the vesicle is balanced by the gain in the adhesion energy. The presence of curved (convex) proteins reduces the bending energy cost by self-organizing with a higher density at the highly curved leading edge of the engulfing membrane, which forms the circular rim of the phagocytic cup that wraps around the particle. This allows the engulfment to occur at much smaller adhesion strength. When the curved membrane-bound protein complexes locally recruit actin polymerization machinery, which leads to outward forces being exerted on the membrane, we found that engulfment is achieved more quickly and at a lower protein density. We consider spherical and non-spherical particles and found that non-spherical particles are more difficult to engulf in comparison to the spherical particles of the same surface area. For non-spherical particles, the engulfment time crucially depends on the initial orientation of the particles with respect to the vesicle. Our model offers a mechanism for the spontaneous self-organization of the actin cytoskeleton at the phagocytic cup, in good agreement with recent high-resolution experimental observations.

Interplay between surface and bending energy helps membrane protrusion formation.

We consider a one-dimensional elastic membrane, which is pushed by growing filaments. The filaments tend to grow by creating local protrusions in the membrane and this process has surface energy and bending energy costs. Although it is expected that with increasing surface tension and bending rigidity, it should become more difficult to create a protrusion, we find that for a fixed bending rigidity, as the surface tension increases, protrusions are more easily formed. This effect also gives rise to nontrivial dependence of membrane velocity on the surface tension, characterized by a dip and a peak. We explain this unusual phenomenon by studying in detail the interplay of the surface and the bending energy and show that this interplay is responsible for a qualitative shape change of the membrane, which gives rise to the above effect.

Actin filaments pushing against a barrier: Comparison between two force generation mechanisms.

To theoretically understand force generation properties of actin filaments, many models consider growing filaments pushing against a movable obstacle or barrier. In order to grow, the filaments need space and hence it is necessary to move the barrier. Two different mechanisms for this growth are widely considered in the literature. In one class of models (type A , the filaments can directly push the barrier and move it, thereby performing some work in the process. In another type of models (type B , the filaments wait till thermal fluctuations of the barrier position create enough space between the filament tip and the barrier, and then they grow by inserting one monomer in that gap. The difference between these two types of growth seems microscopic and rather a matter of modelling details. However, we find that this difference has an important effect on many qualitative features of the models. In particular, how the relative time-scale between the barrier dynamics and filament dynamics influences the force generation properties is significantly different for type A and B models. We illustrate these differences for three types of barrier: a rigid wall-like barrier, an elastic barrier and a barrier with Kardar-Parisi-Zhang dynamics. Our numerical simulations match well with our analytical calculations. Our study highlights the importance of taking the details of the filament-barrier interaction into account while modelling the force generation properties of actin filaments.

Actin filaments growing against an elastic membrane: Effect of membrane tension.

We study the force generation by a set of parallel actin filaments growing against an elastic membrane. The elastic membrane tries to stay flat and any deformation from this flat state, either caused by thermal fluctuations or due to protrusive polymerization force exerted by the filaments, costs energy. We study two lattice models to describe the membrane dynamics. In one case, the energy cost is assumed to be proportional to the absolute magnitude of the height gradient (gradient model) and in the other case it is proportional to the square of the height gradient (Gaussian model). For the gradient model we find that the membrane velocity is a nonmonotonic function of the elastic constant µ and reaches a peak at µ=µ^{*}. For µ<µ^{*} the system fails to reach a steady state and the membrane energy keeps increasing with time. For the Gaussian model, the system always reaches a steady state and the membrane velocity decreases monotonically with the elastic constant ν for all nonzero values of ν. Multiple filaments give rise to protrusions at different regions of the membrane and the elasticity of the membrane induces an effective attraction between the two protrusions in the Gaussian model which causes the protrusions to merge and a single wide protrusion is present in the system. In both the models, the relative time scale between the membrane and filament dynamics plays an important role in deciding whether the shape of elasticity-velocity curve is concave or convex. Our numerical simulations agree reasonably well with our analytical calculations.

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.