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. 2022 Jan 24;12:1231. doi: 10.1038/s41598-022-05224-9

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© The Author(s) 2022

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Cyclic motion of invadopodia dynamics during the directed cell migration towards stiffer ECM. Selected still shots of simulated cell migration toward stiffer ECM at time points of (a) 300 s (at the end of 1^st protrusive phase), (b) 355 s (at the end of 1st retractile phase), and (c) 560 s (at the end of 2^nd protrusive phase). Three graphs in (d), (e), and (f) show time-varying traction (extracellular) force, intracellular force, and trajectory at the tip of invadopodium, respectively.