Search

Biorobots that harness the power generated by living muscle cells have recently gained interest as an alternative to traditional mechanical robots. However, robust and reliable operation of these biorobots still remains a challenge. Toward this end, we developed a self-stabilizing swimming biorobot that can maintain its submersion depth, pitch, and roll without external intervention. The biorobot developed in this study utilized a fin-based propulsion mechanism. It consisted of a base made from two composite PDMS materials and a thin PDMS cantilever seeded with a confluent layer of heart muscle cells. The characterization of the heart muscle cell sheet revealed the gradual increase of the dynamic contraction force and the static cell traction force, which was accompanied by a linear increase in the expression levels of contractile and cytoskeletal proteins. In the design of the biorobot, instead of relying only on the geometry, we used two composite PDMS materials whose densities were modulated by adding either microballoons or nickel powder. The use of two materials with different mass densities enabled precise control of the weight distribution to ensure a positive restoration force on the biorobot tilted at any angle. The developed biorobot exhibited unique propulsion modes depending on the resting angle of its "fin" or the cantilever, and achieved a maximum velocity of 142 μm s(-1). The technique described in this study to stabilize and propel the biorobot can pave the way for novel developments in biorobotics.

Recent advances in mechanobiology have accumulated strong evidence showing close correlations between the physiological conditions and mechanical properties of cells. In this paper, a novel optomechanical technique to characterize the stiffness of single adherent cells attached on a substrate is reported. The oscillation in a cell's height on a vertically vibrating reflective substrate is measured with a laser Doppler vibrometer as apparent changes in the phase of the measured velocity. This apparent phase shift and the height oscillation are shown to be affected by the mechanical properties of human colorectal adenocarcinoma cells (HT-29). The reported optomechanical technique can provide high-throughput stiffness measurement of single adherent cells over time with minimal perturbation.

The size of a cell is a fundamental physiological property and is closely regulated by various environmental and genetic factors. Optical or confocal microscopy can be used to measure the dimensions of adherent cells, and Coulter counter or flow cytometry ( forward scattering light intensity) can be used to estimate the volume of single cells in a flow. Although these methods could be used to obtain the mass of single live cells, no method suitable for directly measuring the mass of single adherent cells without detaching them from the surface is currently available. We report the design, fabrication, and testing of 'living cantilever arrays', an approach to measure the mass of single adherent live cells in fluid using silicon cantilever mass sensor. HeLa cells were injected into microfluidic channels with a linear array of functionalized silicon cantilevers and the cells were subsequently captured on the cantilevers with positive dielectrophoresis. The captured cells were then cultured on the cantilevers in a microfluidic environment and the resonant frequencies of the cantilevers were measured. The mass of a single HeLa cell was extracted from the resonance frequency shift of the cantilever and was found to be close to the mass value calculated from the cell density from the literature and the cell volume obtained from confocal microscopy. This approach can provide a new method for mass measurement of a single adherent cell in its physiological condition in a non-invasive manner, as well as optical observations of the same cell. We believe this technology would be very valuable for single cell time-course studies of adherent live cells.

Particle manipulation based on dielectrophoresis (DEP) can be a versatile and useful tool in lab-on-chip systems for a wide range of cell patterning and tissue engineering applications. Even though there are extensive reports on the use of DEP for cell patterning applications, the development of approaches that make DEP even more affordable and common place is still desirable. In this study, we present the use of interdigitated electrodes on a printed circuit board (PCB) that can be reused to manipulate and position HeLa cells and polystyrene particles over 100 microm thick glass cover slips using DEP. An open-well or a closed microfluidic channel, both made of PDMS, was placed on the glass coverslip, which was then placed directly over the PCB. An AC voltage was applied to the electrodes on the PCB to induce DEP on the particles through the thin glass coverslip. The HeLa cells patterned with DEP were subsequently grown to confirm the lack of any adverse affects from the electric fields. This alternative and reusable platform for DEP particle manipulation can provide a convenient and rapid method for prototyping a DEP-based lab-on-chip system, cost-sensitive lab-on-chip applications, and a wide range of tissue engineering applications.