Science Robotics

Supplementary Materials

The PDF file includes:

  • Text S1. Calculation of the force required for intracellular measurements
  • Text S2. Magnetic bead position control
  • Text S3. Nuclear deformation under different image capturing rates
  • Text S4. Supplementary methods and materials
  • Fig. S1. Cell viability test and success rate of cell endocytosis.
  • Fig. S2. Generalized predictive control.
  • Fig. S3. Trajectory tracking performance using PID and GPC.
  • Fig. S4. Intracellular navigation performance.
  • Fig. S5. Viscoelastic parameters of major and minor axes of T24 cells.
  • Fig. S6. Staining of actin and tubulin for single T24 cells.
  • Fig. S7. Staining of actin and tubulin for validation of the drug treatment effects in RT4 cells.
  • Fig. S8. Nuclear deformation under different image capturing frame rates.
  • Fig. S9. Top down and side view of the device and scanning electron microscope images of the microbead and pole tip.
  • Fig. S10. Mean square displacement over lag time for bead position tracking.
  • Table S1. Key parameters in system design.
  • Table S2. Key parameters in the generalized predictive controller.
  • Table S3. Representative 3D magnetic micromanipulation systems.
  • References (6774)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). System design.
  • Movie S2 (.mp4 format). Position control of magnetic bead.
  • Movie S3 (.mp4 format). Intracellular navigation and nuclear polarity measurement.
  • Movie S4 (.mp4 format). Intracellular force application on cell nucleus for stiffening measurement.
  • Movie S5 (.mp4 format). Simultaneous bright-field and fluorescence imaging.
  • Movie S6 (.mp4 format). Raw video of nuclear deformation and recovery after 50-pN force application.
  • Movie S7 (.mp4 format). Raw video of multibead navigating inside the silicone oil in calibration experiments.

Files in this Data Supplement: