Spring model of biological attachment pads

Bioinspired film-terminated ridges for enhancing friction force on lubricated soft surfaces

Enhancing friction force in lubricated, compliant contacts is of particular interest due to its wide application in various engineering and biological systems. In this study, we have developed bioinspired surfaces featuring film-terminated ridges, which exhibit a significant increase in lubricated friction force compared to flat samples. We propose that the enhanced sliding friction can be attributed to the energy dissipation at the lubricated interface caused by elastic hysteresis resulting from cyclic terminal film deformation. Furthermore, increasing inter-ridge spacing or reducing terminal film thickness are favorable design criteria for achieving high friction performance. These findings contribute to our understanding of controlling lubricated friction and provide valuable insights into surface design strategies for novel functional devices.

Mechanisms of detachment in fibrillar adhesive systems

Several creatures can climb on smooth surfaces with the help of hairy adhesive pads on their legs. A rapid change from strong attachment to effortless detachment of the leg is enabled by the asymmetric geometry of the tarsal hairs. In this study, we propose mechanisms by which the hairy pad can be easily detached, even when the hairs possess no asymmetry. Here, we examine the possible function of the tibia-tarsus leg joint and the claws. Based on a spring-based model, we consider three modes of detachment: vertically pulling the pad while maintaining either a (1) fixed or a (2) free joint, or by (3) flexing the pad about the claw. We show that in all cases, the adhesion force can be significantly reduced due to elastic forces when the hairs deform non-uniformly across the array. Our proposed model illustrates the design advantage of such fibrillar adhesive systems, that not only provide strong adhesion, but also allow easy detachment, making them suitable as organs for fast locomotion and reliable hold. The presented approaches can be potentially used to switch the adhesion state in bio-inspired fibrillar adhesives, by incorporating artificial joints and claws into their design, without the need of asymmetric or stimuli-responsive fibrillar structures.

Reversible Adhesive Bio-Toe with Hierarchical Structure Inspired by Gecko

The agile locomotion of adhesive animals is mainly attributed to their sophisticated hierarchical feet and reversible adhesion motility. Their structure-function relationship is an urgent issue to be solved to understand biologic adhesive systems and the design of bionic applications. In this study, the reversible adhesion/release behavior and structural properties of gecko toes were investigated, and a hierarchical adhesive bionic toe (bio-toe) consisting of an upper elastic actuator as the supporting/driving layer and lower bionic lamellae (bio-lamellae) as the adhesive layer was designed, which can adhere to and release from targets reversibly when driven by bi-directional pressure. A mathematical model of the nonlinear deformation and a finite element model of the adhesive contact of the bio-toe were developed. Meanwhile, combined with experimental tests, the effects of the structure and actuation on the adhesive behavior and mechanical properties of the bio-toe were investigated. The research found that (1) the bending curvature of the bio-toe, which is approximately linear with pressure, enables the bio-toe to adapt to a wide range of objects controllably; (2) the tabular bio-lamella could achieve a contact rate of 60% with a low squeeze contact of less than 0.5 N despite a ±10° tilt in contact posture; (3) the upward bending of the bio-toe under negative pressure provided sufficient rebounding force for a 100% success rate of release; (4) the ratio of shear adhesion force to preload of the bio-toe with tabular bio-lamellae reaches approximately 12, which is higher than that of most existing adhesion units and frictional gripping units. The bio-toe shows good adaptability, load capacity, and reversibility of adhesion when applied as the basic adhesive unit in a robot gripper and wall-climbing robot. Finally, the proposed reversible adhesive bio-toe with a hierarchical structure has great potential for application in space, defense, industry, and daily life.

Effect of the Structural Characteristics on Attachment-Detachment Mechanics of a Rigid-Flexible Coupling Adhesive Unit

The terminal toes of adhesive animals are characterized by rigid-flexible coupling, and their structure–function relationship is an urgent problem to be solved in understanding bioinspired adhesive systems and the design of biomimetic adhesive units. In this paper, inspired by the rigid-flexible coupling adhesive system of the gecko toe, a rigid-flexible coupling adhesive unit was designed, the interface strength of the adhesives under different preloads was tested, and the model and analysis method of the compression and peeling process of the rigid-flexible coupling adhesive unit was established. Meanwhile, combined with the experimental test, the effect of the coupling mechanism of the rigid-flexible structure on the interfacial stress and the final peeling force during the compression and peeling process of the adhesive unit was studied. The research found that the length of the adhesive unit L has no apparent effect on the normal peel force of the system within a specific range, and the normal peeling force increases linearly with the increase in the compression force P; while the influence of the inclination angle θ₀ of the adhesive unit and the thickness of the rigid backing layer h_b on the final normal peeling force of the system presents nonlinear characteristics, when the inclination angle θ₀ of the adhesive unit is 5°, and the thickness of the rigid backing layer h_b is 0.2 mm or 0.3 mm, the normal peel force and the ratio of adhesion force to preload the system reaches its maximum value. Compared with the flexible adhesive unit, the compressed zone formed by the rigid-flexible coupling adhesive unit during the same compression process increased by 6.7 times, while under the same peeling force, the peel zone increased by 8 times, and the maximum normal tensile stress at the peeling end decreased by 20 times. The rigid-flexible coupling mechanics improves the uniformity of the contact stress during the compression and peeling process. The research results provide guidelines for the design of the rigid-flexible coupling adhesive unit, further providing the end effector of the bionic wall-climbing robot with a rigid-flexible coupled bionic design.

Light-driven untethered soft actuators based on biomimetic microstructure arrays

Soft actuators based on smart materials and structures that can perform more diverse tasks skillfully, are being intensively sought. Despite the good progress made in the past few years, locomotion and transportation functionalities of the untethered soft-bodied devices for various natural terrains remain challenging. Inspired by a gecko crawling system, an untethered soft actuator with the abilities of picking up, transporting, and delivering objects controlled by NIR light is proposed. The soft actuator consisting of photo-responsive MWCNTs units and mushroom shaped microstructures, was fabricated by an integrative soft-lithography method with inking and imprinting processes. The integrated MWCNTs unit can convert NIR light irradiation into thermal energy, which can make the body of the soft actuator generate a strong shape deformation intrinsically in a self-contained way, leading to a combined discontinuous and continuous locomotion. Moreover, the integrated mushroom shaped microstructures can also realize grasping and manipulation of the object that was not constrained by the object's shapes and sizes, which was further addressed from experimental and theoretical perspectives. Thus, the combined use of smart materials and structures opens up new research avenues and represents a step forward toward future applications of light-driven untethered soft actuators.

Physical constraints lead to parallel evolution of micro- and nanostructures of animal adhesive pads: a review

Adhesive pads are functional systems with specific micro- and nanostructures which evolved as a response to specific environmental conditions and therefore exhibit convergent traits. The functional constraints that shape systems for the attachment to a surface are general requirements. Different strategies to solve similar problems often follow similar physical principles, hence, the morphology of attachment devices is affected by physical constraints. This resulted in two main types of attachment devices in animals: hairy and smooth. They differ in morphology and ultrastructure but achieve mechanical adaptation to substrates with different roughness and maximise the actual contact area with them. Species-specific environmental surface conditions resulted in different solutions for the specific ecological surroundings of different animals. As the conditions are similar in discrete environments unrelated to the group of animals, the micro- and nanostructural adaptations of the attachment systems of different animal groups reveal similar mechanisms. Consequently, similar attachment organs evolved in a convergent manner and different attachment solutions can occur within closely related lineages. In this review, we present a summary of the literature on structural and functional principles of attachment pads with a special focus on insects, describe micro- and nanostructures, surface patterns, origin of different pads and their evolution, discuss the material properties (elasticity, viscoelasticity, adhesion, friction) and basic physical forces contributing to adhesion, show the influence of different factors, such as substrate roughness and pad stiffness, on contact forces, and review the chemical composition of pad fluids, which is an important component of an adhesive function. Attachment systems are omnipresent in animals. We show parallel evolution of attachment structures on micro- and nanoscales at different phylogenetic levels, focus on insects as the largest animal group on earth, and subsequently zoom into the attachment pads of the stick and leaf insects (Phasmatodea) to explore convergent evolution of attachment pads at even smaller scales. Since convergent events might be potentially interesting for engineers as a kind of optimal solution by nature, the biomimetic implications of the discussed results are briefly presented.

Enhancing Dry Adhesion of Polymeric Micropatterns by Electric Fields

Micropatterned dry adhesives rely mainly on van der Waals interactions. In this paper, we explore the adhesion strength increase that can be achieved by superimposing an electrostatic field through interdigitated subsurface electrodes. Micropatterns were produced by replica molding in silicone. The adhesion forces were characterized systematically by means of experiments and numerical modeling. The force increased with the square of the applied voltage for electric fields up to 800 V. For larger fields, a less-than-quadratic scaling was observed, which is likely due to the small, field-dependent electrical conductivity of the materials involved. The additional adhesion force was found to be up to twice of the field-free adhesion. The results suggest an alternative method for the controlled handling of fragile or miniaturized objects.

Evaluation of silicone elastomers as structural materials for microstructured adhesives

Microstructured (sometimes referred to as gecko-like) adhesives have numerous advantages over flat films, especially for practical applications on non-ideal surfaces that may be uneven or contaminated with dust. However, due to interdependence among material surface and bulk properties, the best material to fabricate such adhesives is still unknown. In this work, we analyzed eleven commercially available silicone elastomers to evaluate their use as flat and microstructured adhesives to address multiple material related questions that may impact the choice of the 'best' material for microstructured dry adhesives. To illustrate the applicability of the measured properties to modeling microstructured surfaces, we use stalk-shaped microstructures, whose contact mechanics are well understood. We demonstrate that there is no correlation between the adhesion strength of flat and microstructured adhesives; while bulk dissipation is the most important factor influencing the adhesion strength of flat elastomers, after microstructurization, interface toughness becomes more important. Therefore, microstructured elastomers loaded with high surface energy additives may demonstrate higher adhesion than their flat counterparts. We also compare the adhesion of flat and microstructured silicone elastomers on rough substrates. In this case, we show that while flat elastomer adhesion decreases with increasing substrate roughness, microstructured silicone adhesion actually increases with increasing roughness up to 0.19 [Formula: see text]m. This is the first time an increase in adhesion strength on rough surfaces is reported for materials stiffer than 1.0 MPa.

Friction-Active Surfaces Based on Free-Standing Anchored Cellulose Nanofibrils

A specific feature of fibrous surfaces is the dependence of their mechanical properties on the alignment of the fibers. Vertically aligned fibers enhance friction and adhesion, whereas horizontal fibers are known to act as a lubricant reducing the friction. Many plants form a specific fibrous mucilage cover around their seeds upon hydration. This mucilage consists of cellulose, hemicelluloses, and strongly hydrophilic pectins. We show that the controlled critical-point drying of hydrated seed mucilage of three exemplary seed mucilage-rich plant species results in the exposure of free-standing cellulose nanofibers with a very high aspect ratio and anchored to the seed surface. The structural dimensions of the cellulose nanofibers are similar to the vertically aligned carbon nanotubes and the contact elements in the adhesion system of the gecko that show an outstanding high dry friction and adhesion. Tribological experiments demonstrate very high average friction coefficients when sliding a smooth and stiff probe over the surface of such arrays of dry free-standing cellulose nanofibrils in the range from 1.4 to 1.8. The high friction values most likely arise from bending of the single cellulose fibers and their alignment with the counterpart surface in close contact. We suggest the potential of free-standing cellulose nanofibrils of plant seed mucilage as a natural and ecologically friendly material where high contact forces to surfaces in dry environments are desired.

Combined Effect of the Microstructure and Underlying Surface Curvature on the Performance of Biomimetic Adhesives

The importance of the geometry of the micro-/nanosized attachment elements for adhesive characteristics of gecko-inspired microstructured surfaces has been comprehensively discussed in recent years. Due to the complex hierarchical structure of these systems, they possess a broad range of adhesion control capabilities by either passive or active adaptability of their underlying structures to the specific substrate and/or behavioral situation. Here, the influence of macroscopic geometry of backing layers hosting biomimetic microstructured surfaces is examined. The flat, convex, and concave macroscopic configurations of the bioinspired microstructured adhesive surfaces are examined on their adhesive performance under varying degrees of curvature and preloads. Microstructured surfaces demonstrated an adhesion range differing by up to a factor of 2 alone through varying backing layer configuration. The results can aid in understanding the influence of curvature geometry on hierarchically structured adhesive systems and the implementation of biomimetic structured surfaces in applications such as robots and grippers optimized for different sized objects.

Effective Elastic Modulus of Structured Adhesives: From Biology to Biomimetics

Micro- and nano-hierarchical structures (lamellae, setae, branches, and spatulae) on the toe pads of many animals play key roles for generating strong but reversible adhesion for locomotion. The hierarchical structure possesses significantly reduced, effective elastic modulus (Eeff), as compared to the inherent elastic modulus (Einh) of the corresponding biological material (and therefore contributes to a better compliance with the counterpart surface). Learning from nature, three types of hierarchical structures (namely self-similar pillar structure, lamella⁻pillar hybrid structure, and porous structure) have been developed and investigated.

The optimal shape of elastomer mushroom-like fibers for high and robust adhesion

Over the last decade, significant effort has been put into mimicking the ability of the gecko lizard to strongly and reversibly cling to surfaces, by using synthetic structures. Among these structures, mushroom-like elastomer fiber arrays have demonstrated promising performance on smooth surfaces matching the adhesive strengths obtained with the natural gecko foot-pads. It is possible to improve the already impressive adhesive performance of mushroom-like fibers provided that the underlying adhesion mechanism is understood. Here, the adhesion mechanism of bio-inspired mushroom-like fibers is investigated by implementing the Dugdale-Barenblatt cohesive zone model into finite elements simulations. It is found that the magnitude of pull-off stress depends on the edge angle θ and the ratio of the tip radius to the stalk radius β of the mushroom-like fiber. Pull-off stress is also found to depend on a dimensionless parameter χ, the ratio of the fiber radius to a length-scale related to the dominance of adhesive stress. As an estimate, the optimal parameters are found to be β = 1.1 and θ = 45°. Further, the location of crack initiation is found to depend on χ for given β and θ. An analytical model for pull-off stress, which depends on the location of crack initiation as well as on θ and β, is proposed and found to agree with the simulation results. Results obtained in this work provide a geometrical guideline for designing robust bio-inspired dry fibrillar adhesives.

Tailoring normal adhesion of arrays of thermoplastic, spring-like polymer nanorods by shaping nanorod tips

The tip shape of contact elements in hairy adhesion systems is crucial for proper contact formation and adhesion enhancement. While submicrometer terminal contact elements show much better adhesion performance than their larger counterparts, shaping their tips so as to maximize normal adhesion has remained challenging. We prepared durable nanorod arrays consisting of stiff, highly entangled thermoplastic polymers with rationally shaped tips by replication of anodic aluminum oxide (AAO). Nanorod arrays with pancake-like tips showed pronounced normal dry adhesion already for small loading forces. For small loading forces, adhesion forces significantly exceeded the loading forces. Both the absence of hysteresis in force/displacement curves and the pronounced durability of the nanorods in series of repeated attachment/detachment cycles suggest that the nanorods behave like elastic springs. Experimental load-adhesion curves were reproduced with a modified Schargott-Popov-Gorb (SPG) model, assuming that contacts between probe and individual nanorods are sequentially formed with increasing indentation depth.

Shear induced adhesion: contact mechanics of biological spatula-like attachment devices

Most biological hairy adhesive systems of insects, arachnids, and reptiles, involved in locomotion, rely not on flat punches on their tips, but rather on spatulate structures. Several hypotheses have been previously proposed to explain the functional importance of this particular contact geometry: (1) enhancement of adaptability to the rough substrate; (2) contact formation by shear force rather than by normal load; (3) increase in total peeling line due to the use of an array of multiple spatulae; (4) contact breakage by peeling off. In the present paper, we used numerical approach to study dynamics of spatulate tips during contact formation on rough substrates. The model clearly demonstrates that the contact area increases under applied shear force, especially when spatulae are misaligned prior to the contact formation. Applied shear force has an optimum describing the situation when maximal contact is formed but no slip occurs. At such equilibrium, maximal adhesion can be generated. This principle manifests the crucial role of spatulate terminal elements in biological fibrillar adhesion.

Gecko-inspired surfaces: a path to strong and reversible dry adhesives

The amazing adhesion of gecko pads to almost any kind of surfaces has inspired a very active research direction over the last decade: the investigation of how geckos achieve this feat and how this knowledge can be turned into new strategies to reversibly join surfaces. This article reviews the fabrication approaches used so far for the creation of micro- and nanostructured fibrillar surfaces with adhesive properties. In the light of the pertinent contact mechanics, the adhesive properties are presented and discussed. The decisive design parameters are fiber radius and aspect ratio, tilt angle, hierarchical arrangement and the effect of the backing layer. Also first responsive systems that allow thermal switching between nonadhesive and adhesive states are described. These structures show a high potential of application, providing the remaining issues of robustness, reliability, and large-area manufacture can be solved.

Micro Rubber Structures for Passive Walking

The final goal of this work is the development of functional rubber sheets with micro rubber structures such as friction free, adhesion, and impact adsorption rubbers, etc. We report a micro rubber structure that can successfully perform flexible passive walking with 3 V-shaped units consisting of 4 legs to achieve very low friction. We show how to miniaturize and integrate this structure to produce, by means of a micro rubber molding process using the stereo lithography method, a rubber sheet with 64 legs. The prototype is designed, fabricated, and tested. Under certain conditions, the 64-legged rubber sheet successfully realizes flexible passive walking down an incline.

The effect of preload on the pull-off force in indentation tests of microfibre arrays

We determined how preload and work of adhesion control the force required to pull a circular cylindrical indenter off a microfibre array. Five regimes, with different contact behaviours, are identified for the unloading phase of indentation. These regimes are governed by two dimensionless parameters. Above a critical preload, the pull-off force and the pull-off stress reach a plateau value. The critical preload, as well as the plateau pull-off force (stress), is found to depend on a single dimensionless parameter q , which can be interpreted as a normalized work of adhesion.

Strength statistics of adhesive contact between a fibrillar structure and a rough substrate

Equal distribution of load among fibrils in contact with a substrate is an important characteristic of fibrillar structures used by many small animals and insects for contact and adhesion. This is in contrast with continuum systems where stress concentration dominates interfacial failure. In this work, we study how adhesion strength of a fibrillar system depends on substrate roughness and variability of the fibril structure, which are modelled using probability distributions for fibril length and fibril attachment strength. Monte Carlo simulations are carried out to determine the adhesion strength statistics where fibril length follows normal or uniform distribution and attachment strength has a power-law form. Our results indicate that the strength distribution is Gaussian (normal) for both the uniform and the normal distributions for length. However, the fibrillar structure having normally distributed lengths has higher strength and lower toughness than one having uniformly distributed lengths. Our simulations also show that an increase in the compliance of the fibrils can compensate for both the substrate roughness and the attachment strength variation. We also show that, as the number of fibrils n increases, the load-carrying efficiency of each fibril goes down. For large n, this effect is found to be small. Furthermore, this effect is compensated by the fact that the standard deviation of the adhesive strength decreases as 1/ square root n.

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.

Contact shape controls adhesion of bioinspired fibrillar surfaces

Following a recent bioinspired paradigm, patterned surfaces can exhibit better adhesion than flat contacts. Previous studies have verified that finer contact structures give rise to higher adhesion forces. In this study, we report on the effect of the tip shape, which was varied systematically in fibrillar PDMS surfaces, produced by lithographic and soft-molding methods. For fiber radii between 2.5 and 25 microm, it is found that shape exerts a stronger effect on adhesion than size. The highest adhesion is measured for mushroom-like and spatular terminals, which attain adhesion values 30 times in excess of the flat controls and similar to a gecko toe. These results explain the shapes commonly found in biological systems, and help in the exploration of the parameter space for artificial attachment systems.

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.