Science Robotics

Supplementary Materials

Supplementary Material for:

Micrometer-sized molecular robot changes its shape in response to signal molecules

Yusuke Sato, Yuichi Hiratsuka, Ibuki Kawamata, Satoshi Murata, Shin-ichiro M. Nomura*

*Corresponding author. Email: nomura{at}molbot.mech.tohoku.ac.jp

Published 1 March 2017, Sci. Robot. 2, eaal3735 (2017)
DOI: 10.1126/scirobotics.aal3735

This PDF file includes:

  • Fig. S1. Single cholesterol–modified anchor encapsulated in the liposome.
  • Fig. S2. Flow chart of preparation methods for inner and outer solutions of one sample.
  • Fig. S3. Confocal images under the condition of 0 mM ATP.
  • Fig. S4. Signal responsiveness of robot and clutch function confirmed by premixing DNA signals.
  • Fig. S5. Polyacrylamide gel electrophoresis.
  • Fig. S6. Statistical mean values of r/rmax in active and inactive robots under a field of microscopic view.
  • Fig. S7. Confocal microscopic images of the liposomes under the condition of DOPC/cholesterol/DSPE-PEG2000 = 8.9/1/0.1.
  • Fig. S8. Confocal microscopic images of the liposomes under the condition of DOPC/cholesterol/DSPE-PEG2000 = 8/1.9/0.1.
  • Fig. S9. Atomic force microscopy images of the lipid bilayer membrane on a mica surface.
  • Fig. S10. Structural formula of a photocleavage site denoted by -X- in table S1.
  • Fig. S11. Switching function of clutch induced by prDNA signals.
  • Fig. S12. Measurement of DNA strand displacement in giant liposome.
  • Fig. S13. Variation in energy required for shape change (ΔE) as a function of time.
  • Fig. S14. Transition from active to inactive states of robot without DNA signal.
  • Fig. S15. Microtubule protrusions from robot.
  • Table S1. DNA sequences.
  • Table S2. Final concentration of each chemical species in inner and outer solutions for robot.
  • Legends for movies S1 to S5
  • References (5355)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Continuous shape change in robot with clutch engaged.
  • Movie S2 (.mp4 format). Switching of the shape of the robot from inactive to active states using photoresponsive connector DNA signal.
  • Movie S3 (.mp4 format). Switching of the shape of the robot from active to inactive states using a photoresponsive releaser DNA signal.
  • Movie S4 (.mp4 format). Rotational 3D view of robot with microtubule protrusions.
  • Movie S5 (.mp4 format). Shape-changing behavior in robots after freezing and thawing.

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