Evidence for capillarity contributions to gecko adhesion from single spatula nanomechanical measurements

In vitro adhesion measurements between skin and micropatterned poly(dimethylsiloxane) surfaces

Micropatterned adhesive surfaces may have potential in reconstructive surgery. The adhesion performance of mice ear skin to micropatterned poly(dimethylsiloxane) (PDMS) was investigated, under in vitro conditions, and compared to flat substrates. No significant difference in separation force F was observed between flat substrates and micropatterned surfaces with pillar arrays. However, the energy necessary for separation of the substrate from the skin was sensitive to the topography. Furthermore, our results show that the force-displacement curves depended on the wetness of the skin: Highest force values were obtained for fresh skin while the forces decreased as the skin dried out. The results are encouraging for further studies on the potential of patterned PDMS in biomedical applications.

Pre-tension generates strongly reversible adhesion of a spatula pad on substrate

Motivated by recent studies on reversible adhesion mechanisms of geckos and insects, we investigate the effect of pre-tension on the orientation-dependent adhesion strength of an elastic tape adhering on a substrate. Our analysis shows that the pre-tension can significantly increase the peel-off force at small peeling angles while decreasing it at large peeling angles, leading to a strongly reversible adhesion. More interestingly, we find that there exists a critical value of pre-tension beyond which the peel-off force plunges to zero at a force-independent critical peeling angle. We further show that the level of pre-tension required for such force-independent detachment at a critical angle can be induced by simply dragging a spatula pad along a substrate at sufficiently low angles. These results provide a feasible explanation of relevant experimental observations on gecko adhesion and suggest possible strategies to design strongly reversible adhesives via pre-tension.

Structure and mechanical properties of selected biological materials

Mineralized biological tissues offer insight into how nature has evolved these components to optimize multifunctional purposes. These mineral constituents are weak by themselves, but interact with the organic matrix to produce materials with unexpected mechanical properties. The hierarchical structure of these materials is at the crux of this enhancement. Microstructural features such as organized, layered organic/inorganic structures and the presence of porous and fibrous elements are common in many biological components. The organic and inorganic portions interact at the molecular and micro-levels synergistically to enhance the mechanical function. In this paper, we report on recent progress on studies of the abalone and Araguaia river clam shells, arthropod exoskeletons, antlers, tusks, teeth and bird beaks.

Terminal contact elements of insect attachment devices studied by transmission X-ray microscopy

For the first time, the terminal elements (spatulae) of setal (hairy)attachment devices of the beetle Gastrophysa viridula (Coleoptera,Chrysomelidae) and the fly Lucilia caesar (Diptera, Calliphoridae)were studied using transmission X-ray microscopy (TXM) with a lateral resolution of about 30 nm. Since images are taken under ambient conditions, we demonstrate here that this method can be applied to study the contact behaviour of biological systems, including animal tenent setae, in a fresh state. We observed that the attached spatulae show a viscoelastic behavior increasing the contact area and providing improved adaptability to the local topography of the surface. The technique can be extended to TXM tomography,which would provide three-dimensional information and a deeper insight into the details of insect attachment structures.

The liquid blister test

We consider a thin elastic sheet adhering to a stiff substrate by means of the surface tension of a thin liquid layer. Debonding is initiated by imposing a vertical displacement at the centre of the sheet and leads to the formation of a delaminated region or ‘blister’. This experiment reveals that the perimeter of the blister takes one of three different forms depending on the vertical displacement imposed. As this displacement is increased, we observe first circular, then undulating and finally triangular blisters. We obtain theoretical predictions for the observed features of each of these three families of blisters. The theory is built upon the Föppl–von Kármán equations for thin elastic plates and accounts for the surface energy of the liquid. We find good quantitative agreement between our theoretical predictions and experimental results, demonstrating that all three families are governed by different balances between elastic and capillary forces. Our results may bear on micrometric tapered devices and other systems, where elastic and adhesive forces are in competition.

Sticky gecko feet: the role of temperature and humidity

Gecko adhesion is expected to be temperature insensitive over the range of temperatures typically experienced by geckos. Previous work is limited and equivocal on whether this expectation holds. We tested the temperature dependence of adhesion in Tokay and Day geckos and found that clinging ability at 12 degrees C was nearly double the clinging ability at 32 degrees C. However, rather than confirming a simple temperature effect, our data reveal a complex interaction between temperature and humidity that can drive differences in adhesion by as much as two-fold. Our findings have important implications for inferences about the mechanisms underlying the exceptional clinging capabilities of geckos, including whether performance of free-ranging animals is based solely on a dry adhesive model. An understanding of the relative contributions of van der Waals interactions and how humidity and temperature variation affects clinging capacities will be required to test hypotheses about the evolution of gecko toepads and is relevant to the design and manufacture of synthetic mimics.

Gecko adhesion: evolutionary nanotechnology

If geckos had not evolved, it is possible that humans would never have invented adhesive nanostructures. Geckos use millions of adhesive setae on their toes to climb vertical surfaces at speeds of over 1ms-1. Climbing presents a significant challenge for an adhesive in requiring both strong attachment and easy rapid removal. Conventional pressure-sensitive adhesives (PSAs) are either strong and difficult to remove (e.g. duct tape) or weak and easy to remove (e.g. sticky notes). The gecko adhesive differs dramatically from conventional adhesives. Conventional PSAs are soft viscoelastic polymers that degrade, foul, self-adhere and attach accidentally to inappropriate surfaces. In contrast, gecko toes bear angled arrays of branched, hair-like setae formed from stiff, hydrophobic keratin that act as a bed of angled springs with similar effective elastic modulus to that of PSAs. Setae are self-cleaning and maintain function for months during repeated use in dirty conditions. Setae are an anisotropic 'frictional adhesive' in that adhesion requires maintenance of a proximally directed shear load, enabling either a tough bond or spontaneous detachment. Gecko-like synthetic adhesives may become the glue of the future-and perhaps the screw of the future as well.

Moulding technique demonstrates the contribution of surface geometry to the super-hydrophobic properties of the surface of a water strider

Water striders (Insecta, Heteroptera, Gerridae) have a complex three-dimensional waterproof hairy cover which renders them super-hydrophobic. This paper experimentally demonstrates for the first time the mechanism of the super-hydrophobicity of the cuticle of water striders. The complex two-level microstructure of the surface, including the smallest microtrichia (200-300 nm wide, 7-9 microm long), was successfully replicated using a two-step moulding technique. The mould surface exhibited super-hydrophobic properties similar to the original insect surface. The average water contact angle (CA) of the mould was 164.7 degrees , whereas the CA of the flat polymer was about 92 degrees . These results show that (i) in water striders, the topography of the surface plays a dominant role in super-hydrophobicity, (ii) very low surface energy bulk material (typically smaller than 0.020 N m(-1)) is not necessary to achieve super-hydrophobicity; and (3) the two-step moulding technique may be used to mimic quite complex biological functional surfaces.

The adhesion model considering capillarity for gecko attachment system

Geckos make use of approximately a million microscale hairs (setae) that branch off into hundreds of nanoscale spatulae to cling to different smooth and rough surfaces and detach at will. This hierarchical surface construction gives the gecko the adaptability to create a large real area of contact with surfaces. It is known that van der Waals force is the primary mechanism used to adhere to surfaces, and capillary force is a secondary effect that can further increase adhesive force. To investigate the effects of capillarity on gecko adhesion, we considered the capillary force as well as the solid-to-solid interaction. The capillary force expressed in terms of elliptical integral is calculated by numerical method to cope with surfaces with a wide range of contact angles. The adhesion forces exerted by a single gecko spatula in contact with planes with different contact angles for various relative humidities are calculated, and the contributions of capillary force to total adhesion force are evaluated. The simulation results are compared with experimental data. Finally, using the three-level hierarchical model recently developed to simulate a gecko seta contacting with random rough surface, the effect of the relative humidity and the hydrophobicity of surface on the gecko adhesion is investigated.

Towards a nanomechanical basis for temporary adhesion in barnacle cyprids (Semibalanus balanoides)

Cypris larvae of barnacles are able to use a rapidly reversible temporary adhesion mechanism for exploring immersed surfaces. Despite decades of research interest, the means by which cyprids maintain attachment with surfaces prior to permanent settlement remain poorly understood. Here, we present novel observations on the morphology of 'footprints' of a putative adhesive secretion deposited by cyprids during surface exploration. Atomic force microscopy (AFM) was used to image footprints at high resolution and to acquire measurements of interaction forces. R-CH3- and R-NH2-terminated glass surfaces were used for comparison of footprint morphology, and it was noted that on R-NH2 each footprint comprised three times the volume of material deposited for footprints on R-CH3. Direct scaling of adhesion forces derived from AFM measurements did not adequately predict the real attachment tenacity of cyprids, and it is suggested that a mixture of 'wet' and 'dry' adhesive mechanisms may be at work in cyprid adhesion. High-resolution images of cyprid footprints are presented that correlate well with the known morphology of the attachment structures.

Hierarchical modelling of attachment and detachment mechanisms of gecko toe adhesion

The mechanics of reversible adhesion of the gecko is investigated in terms of the attachment and detachment mechanisms of the hierarchical microstructures on its toe. At the bottom of the hierarchy, we show that a spatula pad of tiny thickness can be well absorbed onto a substrate with a large surface area and a highly constrained decohesion process zone, both of which are beneficial for robust attachment. With different peeling angles, the peeling strength of a spatula pad for attachment can be 10 times larger than that for detachment. At the intermediate level of hierarchy, we show that a seta can achieve a stress level similar to that in the spatula pad by uniformly distributing adhesion forces; as a consequence, the 10 times difference in the peel-off force of a single spatula pad for attachment and detachment is magnified up to a 100 times difference in adhesion energy at the level of seta. At the top of the hierarchy, the attachment process of a gecko toe is modelled as a pad under displacement-controlled pulling, leading to an adhesive force much larger than the gecko's body weight, while the associated detachment process is modelled as a pad under peeling, resulting in a negligible peel-off force. The present work reveals, in a more systematic way than previous studies in the literature, that the hierarchical microstructures on the gecko's toe can indeed provide the gecko with robust adhesion for attachment and reversible adhesion for easy detachment at the same time.

Capillary adhesion in the limit of saturation: thermodynamics, self-consistent field modeling and experiment

We introduce a simple thermodynamic argument for capillary adhesion forces, for various geometries, in the limit of saturation of the bulk phase. For one specific geometry (i.e., the sphere-plate geometry such as that found in the colloidal probe AFM technique), we provide evidence of the validity of our model by comparison with experiment and self-consistent field calculations. With this latter numerical technique, we also discuss deviations from the macroscopic argument both when the system is moved away from saturation and when the capillary bridge becomes so small that macroscopic thermodynamics is no longer accurate.

A biodegradable and biocompatible gecko-inspired tissue adhesive

There is a significant medical need for tough biodegradable polymer adhesives that can adapt to or recover from various mechanical deformations while remaining strongly attached to the underlying tissue. We approached this problem by using a polymer poly(glycerol-co-sebacate acrylate) and modifying the surface to mimic the nanotopography of gecko feet, which allows attachment to vertical surfaces. Translation of existing gecko-inspired adhesives for medical applications is complex, as multiple parameters must be optimized, including: biocompatibility, biodegradation, strong adhesive tissue bonding, as well as compliance and conformability to tissue surfaces. Ideally these adhesives would also have the ability to deliver drugs or growth factors to promote healing. As a first demonstration, we have created a gecko-inspired tissue adhesive from a biocompatible and biodegradable elastomer combined with a thin tissue-reactive biocompatible surface coating. Tissue adhesion was optimized by varying dimensions of the nanoscale pillars, including the ratio of tip diameter to pitch and the ratio of tip diameter to base diameter. Coating these nanomolded pillars of biodegradable elastomers with a thin layer of oxidized dextran significantly increased the interfacial adhesion strength on porcine intestine tissue in vitro and in the rat abdominal subfascial in vivo environment. This gecko-inspired medical adhesive may have potential applications for sealing wounds and for replacement or augmentation of sutures or staples.

The anatomy and ultrastructure of the suctorial organ of Solifugae (Arachnida)

Solifugae possess an evertable, adhesive pedipalpal organ (suctorial organ) at the tip of the distal tarsus of each pedipalp that is unique among arachnids. When inverted inside the pedipalp, the suctorial organ is covered with two cuticular lips, a dorsal upper lip and a ventral lower lip, but it can be protruded rapidly in order to facilitate grasping prey or climbing on bushes or even climbing on smooth surfaces due to its remarkable adhesive properties. In this study, the suctorial organs of different species from old world families Galeodidae and Karschiidae and new world families Ammotrechidae and Eremobatidae were investigated by means of light microscopy, scanning and transmission electron microscopy. In all representatives, the suctorial organ is formed by an evertable, cuticular pad with a complex internal stabilizing structure. The procuticle of this pad consists of a lattice-like basal plate and numerous stalked structures connected to this basal plate. The shafts of the stalked structures are regularly organized and ramify apically. The surface of the suctorial organ is constituted of a very thin epicuticle overlaying the ramifying apices forming ridges and furrows on the ventral side of the suctorial organ.

The adhesive strategies of cyprids and development of barnacle-resistant marine coatings

Over the last decade, approaches to the development of surfaces that perturb settlement and/or adhesion by barnacles have diversified substantially. Although, previously, coatings research focussed almost exclusively on biocidal technologies and low modulus, low surface-free-energy 'fouling-release' materials, novel strategies to control surface colonisation are now receiving significant attention. It is timely, therefore, to review the current 'state of knowledge' regarding fouling-resistant surface characteristics and their mechanisms of action against settling larvae of barnacles. The role of the barnacle in marine fouling is discussed here in the context of its life cycle and the behavioural ecology of its cypris larva. The temporary and permanent adhesion mechanisms of cyprids are covered in detail and an overview of adult barnacle adhesion is presented. Recent legislation has directed academic research firmly towards environmentally inert marine coatings, so the actions of traditional biocides on barnacles are not described here. Instead, the discussion is restricted to those surface modifications that interfere with settlement-site selection and adhesion of barnacle cypris larvae; specifically, textural engineering of surfaces, development of inert 'non-fouling' surfaces and the use of enzymes in antifouling.

Real-world challenges to, and capabilities of, the gekkotan adhesive system: contrasting the rough and the smooth

Many species of gekkotan lizards possess adhesive subdigital pads that allow them to adhere to, and move easily on, a wide variety of surfaces. However, although the mechanism of adhesion and the potential adhesive capacity of this system have been extensively studied, the adaptive value of these structures and their deployment in natural situations have rarely been examined. The maximal adhesive capacity of gekkotan setal fields has been shown to greatly exceed the force needed to support the body. This high adhesive potential is likely an adaptation for movement on the natural surfaces that these lizards encounter in their environment. Natural surfaces may be rough, undulant, and unpredictable, and provide only limited, patchy areas with which adhesive structures can make contact. Here we examine the microtopography of rock surfaces used by a southern African species of gecko of the genus Rhoptropus Peters, 1869, and compare this to the form, configuration, compliance, and functional morphology of the setal fields of this species. Our results demonstrate that the structure and topology of natural surfaces are important factors in understanding the design of subdigital pads, and provide insight into the evolution of the adhesive system of gekkonid lizards and its adaptive value on topographically unpredictable surfaces.

Insects did it first: a micropatterned adhesive tape for robotic applications

Based on the structural and experimental studies of more than 300 insect species from different lineages, we have developed and characterized a bioinspired polymer material with the ability of multiple glue-free bonding and debonding. The material surface is covered with a pattern of microstructures, which resembles the geometry of tenent hairs previously described from the feet of flies, beetles, earwigs and other insects. The tape with such a microstructure pattern demonstrates at least two times higher pull-off force per unit apparent contact area compared to the flat polymer. Additionally, the tape is less sensitive to contamination by dust particles than a commercially available pressure-sensitive adhesive tape. Even if the 'insect tape' is contaminated, it can be washed with a soap solution in water, in order to completely recover its adhesive properties. We have successfully applied the tape to the 120 g wall-climbing robot Mini-Whegs. Furthermore, the tape can be used for multiple adhering of objects to glass surfaces or as a protective tape for sensitive glass surfaces of optical quality. Another area of potential applications is gripping and manipulation of objects with smooth surfaces.

Mucoadhesive micropatterns for enhanced grip

The main challenge in designing diagnostic devices able to move along the colon is their locomotion method. Manipulating friction with the colonic surface is a key requirement for their safe and atraumatic propagation. One possible solution is to generate friction by means of adhesive forces. For this purpose, a diagnostic device can be covered with mucoadhesive films that stick to the mucus layer of the colonic surface and generate high static friction. This paper investigates whether micropatterning the mucoadhesive films is able to enhance the grip with the colonic surface even more than flat mucoadhesive films. This idea is inspired by the sponge-form adhesive secretion of sea stars which is released by numerous tubular feet. Experiments in vitro showed that the frictional performance of mucoadhesive micropatterns exceed that of non-patterned mucoadhesive films. Moreover, the grip achieved by mucoadhesive micropatterns is far higher than the grip generated by non-mucoadhesive micropatterns made of an elastomeric material. Mucoadhesive micropatterned films also avoid the risk of damaging the colonic surface, since they interact only with the mucus layer and leave the colonic epithelium unaffected.

Phylogenetic analysis of the scaling of wet and dry biological fibrillar adhesives

Fibrillar, or "hairy," adhesives have evolved multiple times independently within arthropods and reptiles. These adhesives exhibit highly desirable properties for dynamic attachment, including orientation dependence, wear resistance, and self-cleaning. Our understanding of how these properties are related to their fibrillar structure is limited, although theoretical models from the literature have generated useful hypotheses. We survey the morphology of 81 species with fibrillar adhesives to test the hypothesis that packing density of contact elements should increase with body size, whereas the size of the contact elements should decrease. We test this hypothesis in a phylogenetic context to avoid treating historically related species as statistically independent data points. We find that fiber morphology is better predicted by evolutionary history and adhesive mechanism than by body size. As we attempt to identify which morphological parameters are most responsible for the performance of fibrillar adhesives, it will be important to take advantage of the natural variation in morphology and the potentially suboptimal outcomes it encompasses, rather than assuming evolution to be an inherently optimizing process.

A reversible wet/dry adhesive inspired by mussels and geckos

The adhesive strategy of the gecko relies on foot pads composed of specialized keratinous foot-hairs called setae, which are subdivided into terminal spatulae of approximately 200 nm (ref. 1). Contact between the gecko foot and an opposing surface generates adhesive forces that are sufficient to allow the gecko to cling onto vertical and even inverted surfaces. Although strong, the adhesion is temporary, permitting rapid detachment and reattachment of the gecko foot during locomotion. Researchers have attempted to capture these properties of gecko adhesive in synthetic mimics with nanoscale surface features reminiscent of setae; however, maintenance of adhesive performance over many cycles has been elusive, and gecko adhesion is greatly diminished upon full immersion in water. Here we report a hybrid biologically inspired adhesive consisting of an array of nanofabricated polymer pillars coated with a thin layer of a synthetic polymer that mimics the wet adhesive proteins found in mussel holdfasts. Wet adhesion of the nanostructured polymer pillar arrays increased nearly 15-fold when coated with mussel-mimetic polymer. The system maintains its adhesive performance for over a thousand contact cycles in both dry and wet environments. This hybrid adhesive, which combines the salient design elements of both gecko and mussel adhesives, should be useful for reversible attachment to a variety of surfaces in any environment.

Biologically inspired crack trapping for enhanced adhesion

We present a synthetic adaptation of the fibrillar adhesion surfaces found in nature. The structure consists of protruding fibrils topped by a thin plate and shows an experimentally measured enhancement in adhesion energy of up to a factor of 9 over a flat control. Additionally, this structure solves the robustness problems of previous mimic structures and has preferred contact properties (i.e., a large surface area and a highly compliant structure). We show that this geometry enhances adhesion because of its ability to trap interfacial cracks in highly compliant contact regimes between successive fibril detachments. This results in the requirement that the externally supplied energy release rate for interfacial separation be greater than the intrinsic work of adhesion, in a manner analogous to lattice trapping of cracks in crystalline solids.

Adhesion enhancement through micropatterning at polydimethylsiloxane-acrylic adhesive interfaces

Adhesion at polydimethylsiloxane (PDMS)-acrylic adhesive interfaces is shown to be enhanced through micropatterning of the PDMS substrate. By varying the geometry of the patterns (groves and hexagonal arrays of pillars of micrometer sizes, obtained through soft lithography techniques) and comparing rigid and deformable substrates, the respective roles of the geometry and the size and flexibility of the pattern features on the level of adhesion have been analyzed. For cylindrical pillars, two regimes are clearly identified: for a relatively low aspect ratio (h/r < 3, with h and r, respectively, the height and the radius of the pillars), soft patterned substrates are more efficient than rigid ones at increasing adhesion, pointing out the role of the elastic energy associated with the deformation of the pattern that is lost when the adhesive detaches from the substrate. Using scaling laws, the predominant contribution to that elastic energy can be further identified: deformation of the substrate underlying the pillars for h/r < 1.6 or bending of the pillars for h/r > 1.6.; for a high aspect ratio (h/r > 3), only rigid patterned substrates enhance adhesion, then the only possible contribution to energy dissipation comes from the enhanced viscoelastic losses associated with the pattern that induce modifications of the strain field within the adhesive layer. Soft, high aspect ratio patterns lose their efficiency even if still bent under the effect of the peel forces. This is because when bent, some of the pillars touch each other and remain stuck together, lying flat on the surface after the passage of the peel front. The bending elastic energy of the pillars (which is still lost) is then balanced by the corresponding gain in surface energy of the substrate in the peeled region. These systematic experiments demonstrate that the ability of the patterned surface to be deformed plays a crucial role in enhancing adhesion and allow us to propose a way to fine tune the level of adhesion at PDMS-acrylic adhesive interfaces, independently of the chemistry of the adhesive.

Carbon nanotube-based synthetic gecko tapes

We have developed a synthetic gecko tape by transferring micropatterned carbon nanotube arrays onto flexible polymer tape based on the hierarchical structure found on the foot of a gecko lizard. The gecko tape can support a shear stress (36 N/cm(2)) nearly four times higher than the gecko foot and sticks to a variety of surfaces, including Teflon. Both the micrometer-size setae (replicated by nanotube bundles) and nanometer-size spatulas (individual nanotubes) are necessary to achieve macroscopic shear adhesion and to translate the weak van der Waals interactions into high shear forces. We have demonstrated for the first time a macroscopic flexible patch that can be used repeatedly with peeling and adhesive properties better than the natural gecko foot. The carbon nanotube-based tape offers an excellent synthetic option as a dry conductive reversible adhesive in microelectronics, robotics, and space applications.

Cloning and characterization of scale beta-keratins in the differentiating epidermis of geckoes show they are glycine-proline-serine-rich proteins with a central motif homologous to avian beta-keratins

The beta-keratins constitute the hard epidermis and adhesive setae of gecko lizards. Nucleotide and amino acid sequences of beta-keratins in epidermis of gecko lizards were cloned from mRNAs. Specific oligonucleotides were used to amplify by 3'- and 5'-rapid amplification of cDNA ends analyses five specific gecko beta-keratin cDNA sequences. The cDNA coding sequences encoded putative glycine-proline-serine-rich proteins of 16.8-18 kDa containing 169-191 amino acids, especially 17.8-23% glycine, 8.4-14.8% proline, 14.2-18.1% serine. Glycine-rich repeats are localized toward the initial and end regions of the protein, while a central region, rich in proline, has a strand conformation (beta-pleated fold) likely responsible for the formation of beta-keratin filaments. It shows high homology with a core region of other lizard keratins, avian scale, and feather keratins. Northern blotting and reverse transcriptase-polymerase chain reaction (RT-PCR) analysis show a higher beta-keratin gene expression in regenerating epidermis compared with normal epidermis. In situ hybridization confirms that mRNAs for these proteins are expressed in cells of the differentiating oberhautchen cells and beta-cells. Expression in adhesive setae of climbing lamellae was shown by RT-PCR. Southern blotting analysis revealed that the proteins are encoded by a multigene family. PCR analysis showed that the genes are presumably located in tandem along the DNA and are transcribed from the same DNA strand like in avian beta-keratins.

Adhesion of bioinspired micropatterned surfaces: effects of pillar radius, aspect ratio, and preload

Inspired by biological attachment systems, micropatterned elastomeric surfaces with pillars of different heights (between 2.5 and 80 microm) and radii (between 2.5 and 25 microm) were fabricated. Their adhesion properties were systematically tested and compared with flat controls. Micropatterned surfaces with aspect ratios above 0.5 were found to be more compliant than flat surfaces. The adhesion significantly increases with decreasing pillar radius and increasing aspect ratio of the patterned features. A preload dependence of the adhesion force has been identified and demonstrated to be crucial for obtaining adhesives with tunable adherence.

Design parameters and current fabrication approaches for developing bioinspired dry adhesives

The attachment pads of some beetles, spiders, flies, and geckos are covered by a dense array of long hairs with characteristic geometries. This curious surface topography allows them to firmly attach to and easily release from almost any kind of surface. In a technological context, such reversible adhesion could enable robots to walk along walls or ceilings, or lead to new medical devices, disposable plasters, reusable adhesive tapes, etc. Artificial fibrillar surfaces mimicking nature's design have been recently fabricated, but their adhesion performance is still far from that of natural systems. This review describes the progress in this field during the last few years and discusses the issues pending for the future.

Structural properties of a scaled gecko foot-hair

Experimental measurements on a cm-scale replica structure of a gecko foot-hair where magnets are used in place of (the usual) van der Waals force are reported. We conduct naked-eye experiments and investigate the mechanical properties of such hair structure and shapes that constitute it. Links between shapes and mechanical properties (functions) useful in geckos for clinging onto walls and adhering to rough surfaces are explained in terms of energy efficiency.

Adhesion and friction in gecko toe attachment and detachment

Geckos can run rapidly on walls and ceilings, requiring high friction forces (on walls) and adhesion forces (on ceilings), with typical step intervals of approximately 20 ms. The rapid switching between gecko foot attachment and detachment is analyzed theoretically based on a tape model that incorporates the adhesion and friction forces originating from the van der Waals forces between the submicron-sized spatulae and the substrate, which are controlled by the (macroscopic) actions of the gecko toes. The pulling force of a spatula along its shaft with an angle between theta 0 and 90 degrees to the substrate, has a "normal adhesion force" contribution, produced at the spatula-substrate bifurcation zone, and a "lateral friction force" contribution from the part of spatula still in contact with the substrate. High net friction and adhesion forces on the whole gecko are obtained by rolling down and gripping the toes inward to realize small pulling angles between the large number of spatulae in contact with the substrate. To detach, the high adhesion/friction is rapidly reduced to a very low value by rolling the toes upward and backward, which, mediated by the lever function of the setal shaft, peels the spatulae off perpendicularly from the substrates. By these mechanisms, both the adhesion and friction forces of geckos can be changed over three orders of magnitude, allowing for the swift attachment and detachment during gecko motion. The results have obvious implications for the fabrication of dry adhesives and robotic systems inspired by the gecko's locomotion mechanism.

Whole animal measurements of shear and adhesive forces in adult tree frogs: insights into underlying mechanisms of adhesion obtained from studying the effects of size and scale

This allometric study of adhesion in 15 Trinidadian tree frog species investigates how relationships between length, area and mass limit the ability of adult frog species of different sizes to adhere to inclined and overhanging surfaces. Our experiments show that hylid frogs possess an area-based wet adhesive system in which larger species are lighter than expected from isometry and adhere better than expected from their toe pad area. However, in spite of these adaptations, larger species adhere less well than smaller species. In addition to these adhesive forces, tree frogs also generate significant shear forces that scale with mass, suggesting that they are frictional forces. Toe pads detach by peeling and frogs have strategies to prevent peeling from taking place while they are adhering to surfaces, including orienting themselves head-up on slopes. The scaling of tree frog adhesion is also used to distinguish between different models for adhesion, including classic formulae for capillarity and Stefan adhesion. These classic equations grossly overestimate the adhesive forces that tree frogs produce. More promising are peeling models, designed to predict the pull-off forces of adhesive tape. However, more work is required before we can qualitatively and quantitatively describe the adhesive mechanism of tree frogs.

Friction and adhesion in the tarsal and metatarsal scopulae of spiders

Friction and adhesion forces of the ventral surface of tarsi and metatarsi were measured in the bird spider Aphonopelma seemanni (Theraphosidae) and the hunting spider Cupiennius salei (Ctenidae). Adhesion measurements revealed no detectable attractive forces when the ventral surfaces of the leg segments were loaded and unloaded against the flat smooth glass surface. Strong friction anisotropy was observed: friction was considerably higher during sliding in the distal direction. Such anisotropy is explained by an anisotropic arrangement of microtrichia on setae: only the setal surface facing in the distal direction of the leg is covered by the microtrichia with spatula-like tips. When the leg is pushed, the spatula-shaped tips of microtrichia contact the substrate, whereas, when the leg is pulled over a surface, setae bend in the opposite direction and contact the substrate with their spatulae-lacking sides. In an additional series of experiments, it was shown that desiccation has an effect on the friction force. Presumably, drying of the legs results in reduction of the flexibility of the setae, microtrichia, spatulae, and underlying cuticle; this diminishes the ability to establish proper contact with the substrate and thus reduces the contact forces.

An in situ study of the nanomechanical properties of barnacle (Balanus amphitrite) cyprid cement using atomic force microscopy (AFM)

Cyprids are the final planktonic stage in the larval dispersal of barnacles and are responsible for surface exploration and attachment to appropriate substrata. The nanomechanical properties of barnacle (Balanus amphitrite) cyprid permanent cement were studied in situ using atomic force microscopy (AFM). Force curves were recorded from the cement disc continually over the course of its curing and these were subsequently analysed using custom software. Results showed a narrowing of the pull-off force distribution with time, as well as a reduction in molecular stretch length over time. In addition, there was a strong correlation between maximum pull-off force and molecular stretch length for the cement, suggesting 'curing' of the adhesive; some force curves also contained a 'fingerprint' of modular protein unfolding. This study provides the first direct experimental evidence in support of a putative 'tanning' mechanism in barnacle cyprid cement.