Biomechanism of adhesion in gecko setae

Spatio-temporal expression patterns of glycine-rich beta proteins and cysteine-rich beta proteins in setae development of Gekko japonicus

BACKGROUND

Setae on the pad lamellae of the Japanese gecko Gekko japonicus (Schlegel, 1836), a vital epidermal derivative, are primarily composed of cornified beta-proteins (CBPs) and play a pivotal role in adhesion and climbing. The amino acid composition of CBPs might be a determining factor influencing their functional properties. However, the molecular mechanisms governed by CBP genes with diverse amino acid compositions in setae development remain unexplored.

RESULTS

Based on RNA-seq analyses, this study confirmed that all G. japonicus CBPs (GjCBPs) are involved in setae formation. Cysteine-rich CBPs encoding genes (ge-cprp-17 to ge-cprp-26) and glycine-rich CBPs encoding genes (ge-gprp-17 to ge-gprp-22) were haphazardly selected, with quantitative real-time PCR revealing their expression patterns in embryonic pad lamellae and dorsal epidermis. It is inferred that glycine-rich CBPs are integral to the formation of both dorsal scales and lamellar setae, cysteine-rich CBPs are primarily associated with setae development. Additionally, fluorescence in situ hybridization revealed spatiotemporal differences in the expression of a glycine-rich CBP encoding gene (ge-gprp-19) and a cysteine-rich CBP encoding gene (ge-cprp-17) during dorsal scales and/or lamellar development.

CONCLUSIONS

All 66 CBPs are involved in the formation of setae. Glycine-rich CBPs hold a significant role in the development of dorsal scales and lamellar setae, whereas most cysteine-rich CBPs appear to be essential components of G. japonicus setae. Even GjCBPs with similar amino acid compositions may play diverse functions. The clear spatio-temporal expression differences between the glycine-rich and cysteine-rich CBP encoding genes during epidermal scale and/or setae formation were observed. Embryonic developmental stages 39 to 42 emerged as crucial phases for setae development. These findings lay the groundwork for deeper investigation into the function of GjCBPs in the development of G. japonicus setae.

Adhesive pads of gecko and anoline lizards utilize corneous and cytoskeletal proteins for setae development and renewal

The formation of the complex pattern of setae in adhesive pads of geckos and anoline lizards has been analyzed by ultrastructural, autoradiographic, and immunohistochemical methods. Setae terminate with spatulated ends responsible for adhesion that allow these lizards to climb vertical substrates and conquer arboreal niches. Setae derive from a complex interfaced molding between two specialized epidermal layers of the shedding complex that determines the cyclical skin molting, Oberhautchen and clear layers. Setae result from the action of setae cytoskeleton and the surrounding cytoplasm of clear cells. An intense protein synthesis, indicated by histidine and proline autoradiography, takes place during setae formation. Corneous and cytoskeletal proteins such as beta-proteins (CBPs), intermediate filament keratins (IFKs), actin, RhoV, tubulin, plakophilin-1, are produced during setae formation. Microfilaments of actin and microtubules of tubulin grow inside the elongating setae. Microtubules associated with filaments of unknown IKFs are produced in the cytoplasm of clear cells, forming a helical cytoskeleton that surrounds the growing setae. Oberhautchen and clear cells are tightly joined by numerous desmosomes and plakophilin-1 is mainly localized along the perimeter of these cells. These observations suggest that actin and tubulin are present in a dynamic form in the forming setae and in the surrounding cytoplasm of clear cells. Aside the localized micro-deformations of the cell membranes leading to setae formation the cytoskeleton determines the accumulation of CBPs inside the growing setae and the spatula. How the genome determines the specific pattern of cytoskeletal organization with the resulting species-specific setae branching remains unknown.

Immunolocalization of corneous proteins including a serine-tyrosine-rich beta-protein in the adhesive pads in the tokay gecko

Adhesive pads of geckos contain many thousands of nanoscale spatulae for the adhesion and movement along vertical or inverted surfaces. Setae are composed of interlaced corneous bundles made of small cysteine-glycine-rich corneous beta proteins (CBPs, formerly indicated as beta-keratins), embedded in a matrix material composed of cytoskeletal proteins and lipids. Negatively charged intermediate filament keratins (IFKs) and positively charged CBPs likely interact within setae, aside disulphide bonds, giving rise to a flexible and resistant corneous material. Using differernt antibodies against CBPs and IFKs an updated model of the composition of setae and spatulae is presented. Immunofluorescence and ultrastructural immunogold labeling reveal that one type of neutral serine-tyrosine-rich CBP is weakly localized in the setae while it is absent from the spatula. This uncharged protein is mainly present in the thin Oberhautchen layer sustaining the setae, although with a much lower intensity with respect to the cysteine-rich CBPs. These proteins in the spatula likely originate a positively charged or neutral contact surface with the substrate but the influence of lipids and cytoskeletal proteins present in setae on the mechanism of adhesion is not known. In the spatula, protein-lipid complexes may impart the pliability for the attachment and adapt to irregular surfaces. The presence of cysteine-glycine medium rich CBPs and softer IFKs in alpha-layers sustaining the setae forms a flexible base for compliance of the setae to substrate and improved adhesion.

Smart Muscle-Driven Self-Cleaning of Biomimetic Microstructures from Liquid Crystal Elastomers

Muscle-driven actuation of biomimetic microfibrillar structures is achieved using integrative soft-lithography on a backing splayed liquid-crystal elastomer (LCE). Variation in the backing LCE layer thickness yields different modes of thermal deformation from a pure bend to a twist-bend. Muscular motion and dynamic self-cleaning of gecko toe pads are mimicked via this mechanism.

Passively stuck: death does not affect gecko adhesion strength

Many geckos use adhesive toe pads on the bottom of their digits to attach to surfaces with remarkable strength. Although gecko adhesion has been studied for hundreds of years, gaps exist in our understanding at the whole-animal level. It remains unclear whether the strength and maintenance of adhesion are determined by the animal or are passively intrinsic to the system. Here we show, for the first time, that strong adhesion is produced passively at the whole-animal level. Experiments on both live and recently euthanized tokay geckos (Gekko gecko) revealed that death does not affect the dynamic adhesive force or motion of a gecko foot when pulled along a vertical surface. Using a novel device that applied repeatable and steady-increasing pulling forces to the foot in shear, we found that the adhesive force was similarly high and variable when the animal was alive (mean ± s.d. = 5.4 ± 1.7 N) and within 30 min after death (5.4 ± 2.1 N). However, kinematic analyses showed that live geckos are able to control the degree of toe pad engagement and can rapidly stop strong adhesion by hyperextending the toes. This study offers the first assessment of whole-animal adhesive force under extremely controlled conditions. Our findings reveal that dead geckos maintain the ability to adhere with the same force as living animals, disproving that strong adhesion requires active control.

Reverse adhesion of a gecko-inspired synthetic adhesive switched by an ion-exchange polymer-metal composite actuator

Inspired by how geckos abduct, rotate, and adduct their setal foot toes to adhere to different surfaces, we have developed an artificial muscle material called ion-exchange polymer-metal composite (IPMC), which, as a synthetic adhesive, is capable of changing its adhesion properties. The synthetic adhesive was cast from a Si template through a sticky colloid precursor of poly(methylvinylsiloxane) (PMVS). The PMVS array of setal micropillars had a high density of pillars (3.8 × 10(3) pillars/mm(2)) with a mean diameter of 3 μm and a pore thickness of 10 μm. A graphene oxide monolayer containing Ag globular nanoparticles (GO/Ag NPs) with diameters of 5-30 nm was fabricated and doped in an ion-exchanging Nafion membrane to improve its carrier transfer, water-saving, and ion-exchange capabilities, which thus enhanced the electromechanical response of IPMC. After being attached to PMVS micropillars, IPMC was actuated by square wave inputs at 1.0, 1.5, or 2.0 V to bend back and forth, driving the micropillars to actively grip or release the surface. To determine the adhesion of the micropillars, the normal adsorption and desorption forces were measured as the IPMC drives the setal micropillars to grip and release, respectively. Adhesion results demonstrated that the normal adsorption forces were 5.54-, 14.20-, and 23.13-fold higher than the normal desorption forces under 1.0, 1.5, or 2.0 V, respectively. In addition, shear adhesion or friction increased by 98, 219, and 245%, respectively. Our new technique provides advanced design strategies for reversible gecko-inspired synthetic adhesives, which might be used for spiderman-like wall-climbing devices with unprecedented performance.

Biomechanics of gecko locomotion: the patterns of reaction forces on inverted, vertical and horizontal substrates

The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists' attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment.