Science Robotics

Supplementary Materials

Supplementary Material for:

Robotically controlled microprey to resolve initial attack modes preceding phagocytosis

Simone Schuerle, Ima Avalos Vizcarra, Jens Moeller, Mahmut Selman Sakar, Berna Özkale, André Machado Lindo, Fajer Mushtaq, Ingmar Schoen, Salvador Pané, Viola Vogel,* Bradley J. Nelson*

*Corresponding author. Email: viola.vogel{at}hest.ethz.ch (V.V.); bnelson{at}ethz.ch (B.J.N.)

Published 4 January 2017, Sci. Robot. 2, eaah6094 (2017)
DOI: 10.1126/scirobotics.aah6094

This PDF file includes:

  • Text S1. The system
  • Text S2. Bead tracking: Brownian motion versus closed-loop control
  • Text S3. Dynamic position clamp
  • Text S4. Rotational trap stiffness modeling
  • Fig. S1. Schematic of microprey fabrication and SEM images.
  • Fig. S2. Macrophage attacking an elliptic prey.
  • Fig. S3. Macrophage encountering bowling pin–like prey.
  • Fig. S4. Image of 5D-MTS.
  • Fig. S5. SEM images of macrophages that phagocytosed rod-shaped prey.
  • Fig. S6. Overview of experimental categories.
  • Fig. S7. Velocity and force over time during push-pull sequence.
  • Fig. S8. Curved pickup trajectories.
  • Fig. S9. Velocity and force over time during push-only sequence.
  • Fig. S10. Position-clamp calibration.
  • Fig. S11. Torque calibration measurements.
  • Fig. S12. Torque evaluation.
  • Table S1. Electroplating conditions.
  • Legends for movies S1 to S9

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mov format). Control of rod-shaped prey toward a single macrophage.
  • Movie S2 (.mov format). Control of elliptic prey toward a single macrophage.
  • Movie S3 (.mov format). Nonresistive prey (raw video).
  • Movie S4 (.mov format). Nonresistive prey (postprocessed video).
  • Movie S5 (.mov format). Tracked cell with nonresistive rod-shaped prey.
  • Movie S6 (.mov format). Realignment of nonresistive rod-shaped prey.
  • Movie S7 (.mov format). "Push-pull" maneuver of a macrophage.
  • Movie S8 (.mov format). Macrophage maneuver with dynamically resistive prey.
  • Movie S9 (.mov format). Macrophagemaneuver with dynamically resistive prey combined with LifeAct-GFP imaging.

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