Toward Bioinspired Wet Adhesives: Lessons from Assessing Surface Structures of the Suction Disc of Intertidal Clingfish

Stickiness in shear: stiffness, shape, and sealing in bioinspired suction cups affect shear performance on diverse surfaces

Aquatic organisms utilizing attachment often contend with unpredictable environments that can dislodge them from substrates. To counter these forces, many organisms (e.g. fish, cephalopods) have evolved suction-based organs for adhesion. Morphology is diverse, with some disc shapes deviating from a circle to more ovate designs. Inspired by the diversity of multiple aquatic species, we investigated how bioinspired cups with different disc shapes performed in shear loading conditions. These experiments highlighted pertinent physical characteristics found in biological discs (regions of stiffness, flattened margins, a sealing rim), as well as ecologically relevant shearing conditions. Disc shapes of fabricated cups included a standard circle, ellipses, and other bioinspired designs. To consider the effects of sealing, these stiff silicone cups were produced with and without a soft rim. Cups were tested using a force-sensing robotic arm, which directionally sheared them across surfaces of varying roughness and compliance in wet conditions while measuring force. In multiple surface and shearing conditions, elliptical and teardrop shapes outperformed the circle, which suggests that disc shape and distribution of stiffness may play an important role in resisting shear. Additionally, incorporating a soft rim increased cup performance on rougher substrates, highlighting interactions between the cup materials and surfaces asperities. To better understand how these cup designs may resist shear, we also utilized a visualization technique (frustrated total internal reflection; FTIR) to quantify how contact area evolves as the cup is sheared.

Holding in the stream: convergent evolution of suckermouth structures in Loricariidae (Siluriformes)

Suckermouth armoured catfish (Loricariidae) are a highly speciose and diverse freshwater fish family, which bear upper and lower lips forming an oral disc. Its hierarchical organisation allows the attachment to various natural surfaces. The discs can possess papillae of different shapes, which are supplemented, in many taxa, by small horny projections, i.e. unculi. Although these attachment structures and their working mechanisms, which include adhesion and interlocking, are rather well investigated in some selected species, the loricariid oral disc is unfortunately understudied in the majority of species, especially with regard to comparative aspects of the diverse oral structures and their relationship to the ecology of different species. In the present paper, we investigated the papilla and unculi morphologies in 67 loricariid species, which inhabit different currents and substrates. We determined four papilla types and eight unculi types differing by forms and sizes. Ancestral state reconstructions strongly suggest convergent evolution of traits. There is no obvious correlation between habitat shifts and the evolution of specific character states. From handling the structures and from drying artefacts we could infer some information about their material properties. This, together with their shape, enabled us to carefully propose hypotheses about mechanisms of interactions of oral disc structures with natural substrates typical for respective fish species.

Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review

In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out.

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.

Analysis of suction-based gripping strategies in wildlife towards future evolutions of the obstetrical suction cup

The design of obstetrical suction cups used for vacuum assisted delivery has not substantially evolved through history despite of its inherent limitations. The associated challenges concern both the decrease of risk of soft tissue damage and failure of instrumental delivery due to detachment of the cup. The present study firstly details some of the suction-based strategies that have been developed in wildlife in order to create and maintain an adhesive contact with potentially rough and uneven substratum in dry or wet environments. Such strategies have permitted the emergence of bioinspired suction-based devices in the fields of robotics or biomedical patches that are briefly reviewed. The objective is then to extend the observations of such suction-based strategies toward the development of innovative medical suction cups. We firstly conclude that the overall design, shape and materials of the suction cups could be largely improved. We also highlight that the addition of a patterned surface combined with a viscous fluid at the interface between the suction cup and scalp could significantly limit the detachment rate and the differential pressure required to exert a traction force. In the future, the development of a computational model including a detailed description of scalp properties should allow to experiment various designs of bioinspired suction cups.

The effects of soft and rough substrates on suction-based adhesion

The Northern clingfish (Gobiesox maeandricus) has a suction-based adhesive disc that can stick to incredibly rough surfaces, a challenge for stiff commercial suction cups. Both clingfish discs and bioinspired suction cups have stiff cores but flexible edges that can deform to overcome surface irregularities. Compliant surfaces are common in nature and technical settings, but performance data for fish and commercial cups is gathered from stiff surfaces. We quantified the interaction between substrate compliance, surface roughness, and suction performance for the Northern clingfish, commercial suction cups, and three biomimetic suction cups with disc rims of varying compliance. We found that all cups stick better on stiffer substrates and worse on more compliant ones, as indicated by peak stress values. On compliant substrates, surface roughness had little effect on adhesion, even for commercial cups that normally fail on hard, rough surfaces. We propose that suction performance on compliant substrates can be explained in part by effective elastic modulus, the combined elastic modulus from a cup-substrate interaction. Of all the tested cups, the biomimetic cups performed the best on compliant surfaces, highlighting their potential to be used in medical and marine geotechnical fields. Lastly, we discuss the overmolding technique used to generate the bioinspired cups and how it is an important tool for studying biology.

Attachment of bioinspired microfibrils in fluids: transition from a hydrodynamic to hydrostatic mechanism

Reversible and switchable adhesion of elastomeric microstructures has attracted significant interest in the development of grippers for object manipulation. Their applications, however, have often been limited to dry conditions and adhesion of such deformable microfibrils in the fluid environment is less understood. In the present study, we performed adhesion tests in silicone oil using single cylindrical microfibrils of a flat-punch shape with a radius of 80 µm. Stiff fibrils were created using three-dimensional printing of an elastomeric resin with an elastic modulus of 500 MPa, and soft fibrils, with a modulus of 3.3 MPa, were moulded in polyurethane. Our results suggest that adhesion is dominated by hydrodynamic forces, which can be maximized by stiff materials and high retraction velocities, in line with theoretical predictions. The maximum pull-off stress of stiff cylindrical fibrils is 0.6 MPa, limited by cavitation and viscous fingering, occurring at retraction velocities greater than 2 µm s^-1. Next, we add a mushroom cap to the microfibrils, which, in the case of the softer material, deforms upon retraction and leads to a transition to a hydrostatic suction regime with higher pull-off stresses ranging from 0.7 to 0.9 MPa. The effects of elastic modulus, fibril size and viscosity for underwater applications are illustrated in a mechanism map to provide guidance for design optimization.

Water as a "glue": Elasticity-enhanced wet attachment of biomimetic microcup structures

Octopus, clingfish, and larva use soft cups to attach to surfaces under water. Recently, various bioinspired cups have been engineered. However, the mechanisms of their attachment and detachment remain elusive. Using a novel microcup, fabricated by two-photon lithography, coupled with in situ pressure sensor and observation cameras, we reveal the detailed nature of its attachment/detachment under water. It involves elasticity-enhanced hydrodynamics generating "self-sealing" and high suction at the cup-substrate interface, converting water into "glue." Detachment is mediated by seal breaking. Three distinct mechanisms of breaking are identified, including elastic buckling of the cup rim. A mathematical model describes the interplay between the attachment/detachment process, geometry, elasto-hydrodynamics, and cup retraction speed. If the speed is too slow, then the octopus cannot attach; if the tide is too gentle for the larva, then water cannot serve as a glue. The concept of "water glue" can innovate underwater transport and manufacturing strategies.