Investigating chorion softening of zebrafish embryos with a microrobotic force sensing system

Deok Ho Kim, Yu Sun, Seok Yun, Ho Lee Sang, Byungkyu Kim

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


The zebrafish is a model organism for addressing questions of vertebrate embryo development. In this paper, the softening phenomenon of the chorion envelope of zebrafish embryos at different developmental stages was mechanically quantitated by using a microrobotic force sensing system. The microrobotic system integrates a piezoelectric cellular force sensor to measure the required forces for penetrating the chorion envelope. Magnitude of penetration forces was found to decrease as an embryo develops. The results mechanically quantitate "chorion softening" in zebrafish embryos due to protease activities subtly modifying the chorion structure, providing an understanding of zebrafish embryo development.

Original languageEnglish
Pages (from-to)1359-1363
Number of pages5
JournalJournal of Biomechanics
Issue number6
Publication statusPublished - 2005 Jun

Bibliographical note

Funding Information:
This work was supported by the 21st Century's Frontier R&D Projects, under the Contract no. MS-02-324-01, sponsored by the Ministry of Science and Technology, Korea. We thank C. Hwang for special contribution in obtaining the zebrafish embryos and H. Kang for the collaboration in developing the early experimental setup.


  • Chorion envelope
  • Chorion softening
  • Force sensing
  • Microrobotic system
  • Protease
  • Zebrafish embryo

ASJC Scopus subject areas

  • Biophysics
  • Orthopedics and Sports Medicine
  • Biomedical Engineering
  • Rehabilitation


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