Adhesive force and endurance of the pelvic sucker across different modes of waterfall-climbing in gobiid fishes: Contrasting climbing mechanisms share aspects of ontogenetic change

Experimental Study on the Adhesion of Abalone to Surfaces with Different Morphologies

To date, research on abalone adhesion has primarily analyzed the organism's adhesion to smooth surfaces, with few studies on adhesion to non-smooth surfaces. The present study examined the surface morphology of the abalone's abdominal foot, followed by measuring the adhesive force of the abalone on a smooth force measuring plate and five force measuring plates with different surface morphologies. Next, the adhesion mechanism of the abdominal foot was analyzed. The findings indicated that the abdominal foot of the abalone features numerous stripe-shaped folds on its surface. The adhesion of the abalone to a fine frosted glass plate, a coarse frosted glass plate, and a quadrangular conical glass plate was not significantly different from that on a smooth glass plate. However, the organism's adhesion to a small lattice pit glass plate and block pattern glass plate was significantly different. The abalone could effectively adhere to the surface of the block pattern glass plate using the elasticity of its abdominal foot during adhesion but experienced difficulty in completely adhering to the surface of the quadrangular conical glass plate. The abdominal foot used its elasticity to form an independent sucker system with each small lattice pit, significantly improving adhesion to the small lattice pit glass plate. The elasticity of the abalone's abdominal foot created difficulty in handling slight morphological size changes in roughness, resulting in no significant differences in its adhesion to the smooth glass plate.

Adhesion Behavior in Fish: From Structures to Applications

In nature, some fish can adhere tightly to the surface of stones, aquatic plants, and even other fish bodies. This adhesion behavior allows these fish to fix, eat, hide, and migrate in complex and variable aquatic environments. The adhesion function is realized by the special mouth and sucker tissue of fish. Inspired by adhesion fish, extensive research has recently been carried out. Therefore, this paper presents a brief overview to better explore underwater adhesion mechanisms and provide bionic applications. Firstly, the adhesion organs and structures of biological prototypes (e.g., clingfish, remora, Garra, suckermouth catfish, hill stream loach, and goby) are presented separately, and the underwater adhesion mechanisms are analyzed. Then, based on bionics, it is explained that the adhesion structures and components are designed and created for applications (e.g., flexible gripping adhesive discs and adhesive motion devices). Furthermore, we offer our perspectives on the limitations and future directions.

It Pays to Be Bumpy: Drag Reducing Armor in the Pacific Spiny Lumpsucker, Eumicrotremus orbis

Armor is a multipurpose set of structures that has evolved independently at least 30 times in fishes. In addition to providing protection, armor can manipulate flow, increase camouflage, and be sexually dimorphic. There are potential tradeoffs in armor function: increased impact resistance may come at the cost of maneuvering ability; and ornate armor may offer visual or protective advantages, but could incur excess drag. Pacific spiny lumpsuckers (Eumicrotremus orbis) are covered in rows of odontic, cone-shaped armor whorls, protecting the fish from wave driven impacts and the threat of predation. We are interested in measuring the effects of lumpsucker armor on the hydrodynamic forces on the fish. Bigger lumpsuckers have larger and more complex armor, which may incur a greater hydrodynamic cost. In addition to their protective armor, lumpsuckers have evolved a ventral adhesive disc, allowing them to remain stationary in their environment. We hypothesize a tradeoff between the armor and adhesion: little fish prioritize suction, while big fish prioritize protection. Using micro-CT, we compared armor volume to disc area over lumpsucker development and built 3D models to measure changes in drag over ontogeny. We found that drag and drag coefficients decrease with greater armor coverage and vary consistently with orientation. Adhesive disc area is isometric but safety factor increases with size, allowing larger fish to remain attached in higher flows than smaller fish.

Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish (Beaufortia kweichowensis) that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding (7.83 body lengths per second (BL/S)) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force (0.1 mN/mm2) generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2 adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

Abalone adhesion: The role of various adhesion forces and their proportion to total adhesion force

Adhesion is the basic ability of many kinds of animals in nature, which ensures the survival and reproduction of animal populations. The aquatic abalone has a strong adhesion capacity. In this study, we observed the microscopic morphology of abalone abdominal foot surface, and found that the surface was covered with a large number of fibers. Then five types of force measuring plates were designed and processed for the adhesion test of abalone abdominal foot. According to the test results, the composition of abalone abdominal foot adhesion force was analyzed and the proportion of various adhesion force to the total adhesion force of abalone abdominal foot was calculated. Among them, the vacuum adhesion force accounts for more than half of the total adhesion force of abalone abdominal foot, and its proportion is more than 60%. Van der Waals force also plays an important role, and its proportion is more than 20%. The proportion of capillary force is very small, which is only about 1%. Its main role is to form a liquid film to prevent the gas from flowing into the sucker. The vacuum adhesion of abalone abdominal foot can be further divided into the whole adhesion of abdominal foot, the local adhesion of abdominal foot and the frictional equivalent vacuum adhesion. And the whole adhesion of abdominal foot is basically equivalent to the local adhesion of abdominal foot. This study quantifies the proportion of various adhesion forces to the total adhesion force of the abdominal foot, which provides a reference for the further study of other adhesive creatures and the design of bionic underwater adhesion devices.

Sticky, stickier and stickiest - a comparison of adhesive performance in clingfish, lumpsuckers and snailfish

The coastal waters of the North Pacific are home to the northern clingfish (Gobiesox maeandricus), Pacific spiny lumpsucker (Eumicrotremus orbis) and marbled snailfish (Liparis dennyi) - three fishes that have evolved ventral adhesive discs. Clingfish adhesive performance has been studied extensively, but relatively little is known about the performance of other sticky fishes. Here, we compared the peak adhesive forces and work to detachment of clingfish, lumpsuckers and snailfish on surfaces of varying roughness and over ontogeny. We also investigated the morphology of their adhesive discs through micro-computed tomography scanning and scanning electron microscopy. We found evidence that adhesive performance is tied to the intensity and variability of flow regimes in the fishes' habitats. The northern clingfish generates the highest adhesive forces and lives in the rocky intertidal zone where it must resist exposure to crashing waves. Lumpsuckers and snailfish both generate only a fraction of the clingfish's adhesive force, but live more subtidal where currents are slower and less variable. However, lumpsuckers generate more adhesive force relative to their body weight than snailfish, which we attribute to their higher-drag body shape and frequent bouts into the intertidal zone. Even so, the performance and morphology data suggest that snailfish adhesive discs are stiffer and built more efficiently than lumpsucker discs. Future studies should focus on sampling additional diversity and designing more ecologically relevant experiments when investigating differences in adhesive performance.

Sucker Shapes, Skeletons and Bioinspiration: How Hard and Soft Tissue Morphology Generates Adhesive Performance in Waterfall Climbing Goby Fishes

Many teleost fishes, such as gobies, have fused their paired pelvic fins into an adhesive disc. Gobies can use their pelvic suckers to generate passive adhesive forces (as in engineered suction cups) and different species exhibit a range of adhesive performance, with some even able to climb waterfalls. Previous studies have documented that, in the Hawaiian Islands, species capable of climbing higher waterfalls produce the highest passive pull-off forces, and species found at higher elevation sites are likely to have more rounded suction discs than those found in the lowest stream segments. Morphology of the pelvic girdle also varies between species, with more robust skeletons in taxa with superior passive adhesion. To investigate what factors impact the passive adhesive performance of waterfall climbing gobies, we tested biomimetic suction cups designed with a range of shapes and embedded bioinspired "skeletons" based on micro-CT scans of goby pelvic girdles. We found that while the presence of an internal skeleton may provide some support against failure, the performance of suction cups may be more strongly affected by their external shape. Nonetheless, factors besides external shape and skeletal morphology may still have a stronger influence on sucker tenacity. Our results suggest that the relationship between suction disc morphology and adhesive performance may be influenced by a variety of physical factors, and live animal performance likely is further complicated by muscle activation and climbing behavior. These results have implications for the evolution of suction disc shape in adhesive fishes and for improving the design of biomimetic suction cups.

Locomotor challenges of waterfall-climbing gobies during transitions between media

An amphidromous goby, Sicyopterus japonicus, migrates from the ocean to upstream regions of many streams and rivers in the Pacific coasts of Japan and Taiwan. Using its mouth and fused pelvic fins (pelvic sucker), this gobiid species exhibits a rock-climbing behavior and surmounts sizable waterfalls, which block the upstream movement of many of its competitors and predators. When gobies emerge from the water to commence their climbing behavior, the change in effective density (i.e., lack of buoyancy) that occurs in this transition substantially increases the force required for adhesion. Consequently, these fish must exert adhesive suction strong enough to support their body weight against gravity during climbing on the rock surface. Suction performance for adhesion and modulatory capacity of S. japonicus were evaluated with two different sets of experimental conditions: climbing on the vertical surface with no water flow, versus climbing on a 60o-inclined surface with 2 L/min flow. Individuals of S. japonicus showed 50.7% greater mean safety factor (suction force for adhesion/gravitational force) and 56.6% shorter time to reach maximum pressure differential during climbing on the 60o-inclined surface with water rushing over their bodies than during climbing on the vertical surface with no water flow. These results indicate that when climbing with drag force from flowing water, greater functional demands are imposed and therefore, S. japonicus is required to increase neuromuscular stimulation of the pelvic muscles to elevate suction performance. In addition, S. japonicus individuals at different ontogenetic stages modulate their climbing behaviors and strategies to accommodate changing functional demands as they make transitions between different inclines, as well as media, while ascending waterfalls.