EuMoBot: replicating euglenoid movement in a soft robot

Swimming is employed as a form of locomotion by many organisms in nature across a wide range of scales. Varied strategies of shape change are employed to achieve fluidic propulsion at different scales due to changes in hydrodynamics. In the case of microorganisms, the small mass, low Reynolds number and dominance of viscous forces in the medium, requires a change in shape that is non-invariant under time reversal to achieve movement. The Euglena family of unicellular flagellates evolved a characteristic type of locomotion called euglenoid movement to overcome this challenge, wherein the body undergoes a giant change in shape. It is believed that these large deformations enable the organism to move through viscous fluids and tiny spaces. The ability to drastically change the shape of the body is particularly attractive in robots designed to move through constrained spaces and cluttered environments such as through the human body for invasive medical procedures or through collapsed rubble in search of survivors. Inspired by the euglenoids, we present the design of EuMoBot, a multi-segment soft robot that replicates large body deformations to achieve locomotion. Two robots have been fabricated at different sizes operating with a constant internal volume, which exploit hyperelasticity of fluid-filled elastomeric chambers to replicate the motion of euglenoids. The smaller robot moves at a speed of body lengths per cycle (20 mm min −1 or 2.2 cycles min −1 ) while the larger one attains a speed of body lengths per cycle (4.5 mm min −1 or 0.4 cycles min −1 ). We show the potential for biomimetic soft robots employing shape change to both replicate biological motion and act as a tool for studying it. In addition, we present a quantitative method based on elliptic Fourier descriptors to characterize and compare the shape of the robot with that of its biological counterpart. Our results show a similarity in shape of 85% and indicate that this method can be applied to understand the evolution of shape in other nonlinear, dynamic soft robots where a model for the shape does not exist.

Reactivation of euglenoid movement and flagellar beating in detergent-extracted cells of Astasia longa: different mechanisms of force generation are involved

Detergent-extracted cell models of the euglenoid flagellate, Astasia longa, were obtained that rounded-up on addition of calcium. Treatment with 4% Triton X-100 and Nonidet P-40 removed the flagellar membrane, all membranous structures inside the cell body and the plasma membrane at groove regions of the cell surface. Maximum rounding-up was induced when the concentration of free calcium was raised to greater than or equal to 10(−7) M, and ATP strongly enhanced this response. The ionic requirements and sensitivity to vanadate were different from those for the reactivation of flagellar movement. The results suggest that the mechanism of force generation is different from the dynein-based system of the flagellum and that a rise in cytoplasmic free Ca2+ concentration might cause euglenoid movement in vivo. The mechanism of euglenoid movement is discussed in relation to other protozoan motile systems.

Control of cell shape by calcium in the euglenophyceae

The euglenoid flagellates are able to change their shape rapidly in response to a variety of stimuli, or sometimes spontaneously. Two extremes of shape can be identified: the “relaxed” form is cylindrical; the contracted form is a somewhat distorted disc. These 2 forms can be interconverted by treatments that alter the Ca2+ concentration of the entire cell. The level of Ca2+ is believed to be normally controlled by a system of calcium-accumulating membranes, identified in Astasia longa by the technique of calcium oxalate precipitation. The system forms a set of parallel tubes of endoplasmic reticulum, one of which lies immediately below each of the ridges of the pellicle. The individual ridges, each with its associated reticulum, microtubules and other elements are suggested to be independent motor units. Local activation of a small number of these units by Ca2+ is made possible by the arrangement of Ca2+ -sequestering reticulum, producing the characteristic squirming euglenoid movement. Uniform activation or suppression of all units produces the 2 extremes of shape. The pellicle of A. longa with its associated microtubules has been purified and shown to contain a Ca2+ -binding site and ATPase activity.