The modern era of research on cilia and flagella of eukaryotic cells began in the early 1950s with the discovery of the 9+2 structure of the axoneme, quickly followed by the demonstration of flagellar ATPase activity, the demonstration of ATP-reactivated motility of membrane permeabilized flagella, and the classic study of the morphology of movement of the sea-urchin sperm flagellum by Professor Sir James Gray (1955; see Gibbons, 1981, for other references). During the past two decades, the idea that the bending of flagella and cilia is caused by active sliding between the outer doublet microtubules of the axoneme has become firmly established (Gibbons, 1981). The active sliding process derives energy from the dephosphorylation of MgATP, and this ATPase activity is associated with the dynein arms, which are attached at their basal ends to the A-tubules of the outer doublet microtubules and interact transiently with the B-tubules...

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