Raj Kumar Sadhu, Aleš Iglič and Nir Gov review theoretical works demonstrating that curved membrane-bound protein complexes recruit cytoskeletal components, which together with the membrane, self-organise to form lamellipodia.

https://journals.biologists.com/jcs/article/136/14/jcs260744/324865/A-minimal-cell-model-for-lamellipodia-based

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A minimal cell model for lamellipodia-based cellular dynamics and migration

Summary: We review theoretical works, demonstrating that curved membrane-bound protein complexes that recruit the protrusive forces of the cytoskeleton self-organize the cytoskeleton and the membrane to form lamellipodia.

The Company of Biologists