Skeletal geometry and niche transitions restore organ size and shape during zebrafish fin regeneration

ABSTRACTRegenerating fish fins return to their original size and shape regardless of the nature or extent of injury. Prevailing models for this longstanding mystery of appendage regeneration speculate fin cells maintain uncharacterized positional identities that instruct outgrowth after injury. Using zebrafish, we find differential Wnt production correlates with the extent of regeneration across the caudal fin. We identify Dachshund transcription factors as markers of distal blastema cells that produce Wnt and thereby promote a pro-progenitor and -proliferation environment. We show these Dach-expressing “niche cells” derive from mesenchyme populating cylindrical and progressively tapered fin rays. The niche pool, and consequently Wnt, steadily dissipates as regeneration proceeds; once exhausted, ray and fin growth stops. Supported by mathematical modeling, we show longfint2 zebrafish regenerate exceptionally long fins due to a perdurant niche, representing a “broken countdown timer”. We propose regenerated fin size is dictated by the amount of niche formed upon damage, which simply depends on the availability of intra-ray mesenchyme defined by skeletal girth at the injury site. Likewise, the fin reestablishes a tapered ray skeleton because progenitor osteoblast output reflects diminishing niche size. This “transpositional scaling” model contends mesenchyme-niche state transitions and positional information provided by self-restoring skeletal geometry rather than cell memories determine a regenerated fin’s size and shape.

Design and Experimentation of a Tunably-Compliant Robotic Finger Using Low Melting Point Metals

In this paper, we describe the fabrication and testing of a tunably-compliant tendon-driven finger implemented through the geometric design of a skeleton made of the low-melting point Field’s metal encased in a silicone rubber. The initial prototype consists of a skeleton comprised of two rods of the metal, with heating elements in thermal contact with the metal at various points along its length, embedded in an elastomer. The inputs to the systems are both the force exerted on the tendon to bend the finger and the heat introduced to liquefy the metal locally or globally along the length of the finger. Selective localized heating allows multiple joints to be created along the length of the finger. Fabrication was accomplished via a multiple step process of elastomer casting and liquid metal casting. Heating elements such as power resistors or Ni-Cr wire with electric connections were added as an intermediate step before the final elastomer casting. The addition of a tradition tendon actuation was inserted after all casting steps had been completed. While preliminary, this combination of selective heating and engineered geometry of the low-melting point skeletal structure will allow for further investigation into the skeletal geometry and its effects on local and global changes in device stiffness.

Relationship Between Jaw Stiffness and Kinematic Variability in Speech

Humans produce speech by controlling a complex biomechanical apparatus to achieve desired speech sounds. We show here that kinematic variability in speech may be influenced by patterns of jaw stiffness. A robotic device was used to deliver mechanical perturbations to the jaw to quantify its stiffness in the mid-sagittal plane. Measured jaw stiffness was anisotropic. Stiffness was greatest along a protrusion-retraction axis and least in the direction of jaw raising and lowering. Consistent with the idea that speech movements reflect directional asymmetries in jaw stiffness, kinematic variability during speech production was found to be high in directions in which stiffness is low and vice versa. In addition, for higher jaw elevations, stiffness was greater and kinematic variability was less. The observed patterns of kinematic variability were not specific to speech—similar patterns appeared in speech and nonspeech movements. The empirical patterns of stiffness were replicated by using a physiologically based model of the jaw. The simulation studies support the idea that the pattern of jaw stiffness is affected by musculo-skeletal geometry and muscle-force-generating abilities with jaw geometry being the primary determinant of the orientation of the stiffness ellipse.