Fig. 3

Multistability in the MSC differentiation network. The relative expression level of YAP/TAZ in a stiffness range from 0.1 kPa to 60 kPa is shown (b), with inset (a). The relative expression levels of lineage-specific genes are shown in (c-f). On each plot the x-axis is the stiffness of the substrate and the y-axis is the relative gene expression level. Blue lines illustrate changes in the relative expression level as the stiffness increases; red lines illustrate changes in the relative expression level as the stiffness decreases. (g). The robustness of the parameters in the mathematical model. The x-axis is the parameter index, corresponding to the notation of Table 2. The y-axis is the robustness of the parameters (defined in Methods)