Remora-Inspired Reversible Adhesive for Underwater Applications

Nature-inspired adhesive systems

Many organisms in nature thrive in intricate habitats through their unique bio-adhesive surfaces, facilitating tasks such as capturing prey and reproduction. It's important to note that the remarkable adhesion properties found in these natural biological surfaces primarily arise from their distinct micro- and nanostructures and/or chemical compositions. To create artificial surfaces with superior adhesion capabilities, researchers delve deeper into the underlying mechanisms of these captivating adhesion phenomena to draw inspiration. This article provides a systematic overview of various biological surfaces with different adhesion mechanisms, focusing on surface micro- and nanostructures and/or chemistry, offering design principles for their artificial counterparts. Here, the basic interactions and adhesion models of natural biological surfaces are introduced first. This will be followed by an exploration of research advancements in natural and artificial adhesive surfaces including both dry adhesive surfaces and wet/underwater adhesive surfaces, along with relevant adhesion characterization techniques. Special attention is paid to stimulus-responsive smart artificial adhesive surfaces with tunable adhesive properties. The goal is to spotlight recent advancements, identify common themes, and explore fundamental distinctions to pinpoint the present challenges and prospects in this field.

Biomimetic Structure and Surface for Grasping Tasks

Under water, on land, or in the air, creatures use a variety of grasping methods to hunt, avoid predators, or carry food. Numerous studies have been conducted to construct a bionic surface for grasping tasks. This paper reviews the typical biomimetic structures and surfaces (wedge-shaped surface, suction cup surface and thorn claw surface) for grasping scenarios. Initially, progress in gecko-inspired wedge-shaped adhesive surfaces is reviewed, encompassing the underlying mechanisms that involve tuning the contact area and peeling behavior. The applications of grippers utilizing this adhesive technology are also discussed. Subsequently, the suction force mechanisms and applications of surfaces inspired by octopus and remora suction cups are outlined. Moreover, this paper introduces the applications of robots incorporating the principles of beetle-inspired and bird-inspired thorn claw structures. Lastly, inspired by remoras' adhesive discs, a composite biomimetic adhesive surface is proposed. It integrates features from wedge-shaped, suction cup, and claw thorn surfaces, potentially surpassing the adaptability of basic bioinspired surfaces. This surface construction method offers a potential avenue to enhance adhesion capabilities with superior adaptability to surface roughness and curvature.

Glycopolymer-Based Antiswelling, Conductive, and Underwater Adhesive Hydrogels for Flexible Strain Sensor Application

With the fast development of soft electronics, underwater adhesion has become a highly desired feature for various sensing uses. Currently, most adhesive hydrogels are based on catechol-based structures, such as polydopamine, pyrogallol, and tannic acid, with very limited structural variety. Herein, a new type of glycopolymer-based underwater adhesive hydrogel has been prepared straightforwardly by random copolymerization of acrylic acid, acetyl-protected/unprotected glucose, and methacrylic anhydride in dimethyl sulfoxide (DMSO). By employing a DMSO-water solvent exchange strategy, the underwater adhesion was skillfully induced by the synergetic effects of hydrophobic aggregation and hydrogen bonding, leading to excellent adhesion behaviors on various surfaces, including pig skins, glasses, plastics, and metals, even after 5 days of storage in water. In addition, the underwater adhesive hydrogels with simple and low-cost protected/unprotected carbohydrate compositions showed good mechanical and rheological properties, together with cytocompatibility and antiswelling behavior in water, all of which are beneficial for underwater adhesions. In application as a flexible strain sensor, the adhesive hydrogel exhibited stable and reliable sensing ability for monitoring human motion in real time, suggesting great potential for intelligent equipment design.

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.

Femtosecond Laser Direct Writing of Gecko-Inspired Switchable Adhesion Interfaces on a Flexible Substrate

Biomimetic switchable adhesion interfaces (BSAIs) with dynamic adhesion states have demonstrated significant advantages in micro-manipulation and bio-detection. Among them, gecko-inspired adhesives have garnered considerable attention due to their exceptional adaptability to extreme environments. However, their high adhesion strength poses challenges in achieving flexible control. Herein, we propose an elegant and efficient approach by fabricating three-dimensional mushroom-shaped polydimethylsiloxane (PDMS) micropillars on a flexible PDMS substrate to mimic the bending and stretching of gecko footpads. The fabrication process that employs two-photon polymerization ensures high spatial resolution, resulting in micropillars with exquisite structures and ultra-smooth surfaces, even for tip/stem ratios exceeding 2 (a critical factor for maintaining adhesion strength). Furthermore, these adhesive structures display outstanding resilience, enduring 175% deformation and severe bending without collapse, ascribing to the excellent compatibility of the micropillar's composition and physical properties with the substrate. Our BSAIs can achieve highly controllable adhesion force and rapid manipulation of liquid droplets through mechanical bending and stretching of the PDMS substrate. By adjusting the spacing between the micropillars, precise control of adhesion strength is achieved. These intriguing properties make them promising candidates for various applications in the fields of microfluidics, micro-assembly, flexible electronics, and beyond.

Recent progress on underwater soft robots: adhesion, grabbing, actuating, and sensing

The research on biomimetic robots, especially soft robots with flexible materials as the main structure, is constantly being explored. It integrates multi-disciplinary content, such as bionics, material science, mechatronics engineering, and control theory, and belongs to the cross-disciplinary field related to mechanical bionics and biological manufacturing. With the continuous development of various related disciplines, this area has become a hot research field. Particularly with the development of practical technologies such as 3D printing technology, shape memory alloy, piezoelectric materials, and hydrogels at the present stage, the functions and forms of soft robots are constantly being further developed, and a variety of new soft robots keep emerging. Soft robots, combined with their own materials or structural characteristics of large deformation, have almost unlimited degrees of freedom (DoF) compared with rigid robots, which also provide a more reliable structural basis for soft robots to adapt to the natural environment. Therefore, soft robots will have extremely strong adaptability in some special conditions. As a type of robot made of flexible materials, the changeable pose structure of soft robots is especially suitable for the large application environment of the ocean. Soft robots working underwater can better mimic the movement characteristics of marine life in the hope of achieving more complex underwater tasks. The main focus of this paper is to classify different types of underwater organisms according to their common motion modes, focusing on the achievements of some bionic mechanisms in different functional fields that have imitated various motion modes underwater in recent years (e.g., the underwater sucking glove, the underwater Gripper, and the self-powered soft robot). The development of various task types (e.g., grasping, adhesive, driving or swimming, and sensing functions) and mechanism realization forms of the underwater soft robot are described based on this article.

Hitchhiking to the abyss

We investigated, for the first time, the hitchhiker-host fidelity of deep-diving whale sharks and Chilean devil rays. We found that two of the most ubiquitous oceanic hitchhikers, the common remora and the pilot fish, are able to follow their hosts to bathypelagic depths, where they are exposed to extreme gradients of light, dissolved oxygen, temperature, and pressure. We documented a deep dive of a large whale shark hosting remoras and pilot fish. Common remora was observed at the deepest section of the dive, at 1460 m, where the water temperature was 3.6°C. A pilot fish was recorded at 900 m, during the ascent phase, with the water temperature of 7.5°C. Although the adaptations that allow these hitchhikers to mitigate the impacts of such extreme environmental conditions remain unknown, we discuss these findings in the framework of the ecophysiology of deep diving and the hitchhiker-host fidelity.

Recent advances in adhesive materials used in the biomedical field: adhesive properties, mechanism, and applications

Adhesive materials are natural or synthetic polymers with the ability to adhere to the surface of luminal mucus or epithelial cells. They are widely used in the biomedical field due to their unique adhesion, biocompatibility, and excellent surface properties. When used in the human body, they can adhere to an accessible target and remain at the focal site for a longer period, improving the therapeutic effect on local disease. An adhesive material with bacteriostatic properties can play an antibacterial role at the focal site and the adhesive properties of the material can prevent the focal site from being infected by bacteria for a period. In addition, some adhesive materials can promote cell growth and tissue repair. In this review, the properties and mechanism of natural adhesive materials, organic adhesive materials, composite adhesive materials, and underwater adhesive materials have been introduced systematically. The applications of these adhesive materials in drug delivery, antibacterials, tissue repair, and other applications are described in detail. Finally, we have discussed the prospects and challenges of using adhesive materials in the field of biomedicine.

Rational design of adhesives for effective underwater bonding

Underwater adhesives hold great promises in our daily life, biomedical fields and industrial engineering. Appropriate underwater bonding can reduce the huge cost from removing the target substance from water, and greatly lift working efficiency. However, different from bonding in air, underwater bonding is quite challenging. The existence of interfacial water prevents the intimate contact between the adhesives and the submerged surfaces, and water environment makes it difficult to achieve high cohesiveness. Even so, in recent years, various underwater adhesives with macroscopic adhesion abilities were emerged. These smart adhesives can ingeniously remove the interfacial water, and enhance cohesion by utilizing their special physicochemical properties or functional groups. In this mini review, we first give a detail introduction of the difficulties in underwater bonding. Further, we overview the recent strategies that are used to construct underwater adhesives, with the emphasis on how to overcome the difficulties of interfacial water and achieve high cohesiveness underwater. In addition, future perspectives of underwater adhesives from the view of practical applications are also discussed. We believe the review will provide inspirations for the discovery of new strategies to overcome the obstacles in underwater bonding, and therefore may contribute to designing effective underwater adhesives.

Magneto-Responsive Actuating Surfaces with Controlled Wettability and Optical Transmittance

The wettability of surfaces can be manipulated using actuating micro/nanostructures, as in the manipulation of water droplets with magnetic forces. Controlling water droplets with magneto-responsive surfaces is limited to optical applications, however, because these surfaces are normally opaque. Herein, we introduce a magneto-responsive actuating surface that is capable of controlling not only the wettability but also the optical transmittance. The magneto-responsive actuating surface is fabricated using a composite of iron particles with polydimethylsiloxane (PDMS). Thanks to the elastic properties of PDMS, fabricated microstructures' bending is induced by applying magnetic force. Therefore, the static/dynamic water contact angle and the optical transmittance can be controlled. Furthermore, as a feasible application, a sliding angle control system that depends on the magnet location is implemented. On the basis of the interesting characteristics of not only wettability but also optical transmittance, this study is expected to be widely used in various fields such as optics, surface self-cleaning systems of solar cells, and smart windows.

A biomimetic remora disc with tunable, reversible adhesion for surface sliding and skimming

Remora suckerfish (Echeneis naucrates) can perform skimming and sliding motions on the surfaces of moving hosts to optimize adhesion positions. We found that remora achieve skimming and sliding motions through coordinated movement of the suction disc's lamellae and lip locomotion through live animal observations. We implemented an integrated biomimetic remora suction disc based on morphological and kinematic data of biological remoras. With soft actuators enabling 'compression-rotation' and 'compression-extension', the biomimetic disc controls the disc lip and lamellar movement under driving with only one degree of freedom, and can switch freely between three states: zero, low-friction, and robust adhesion. Then we investigate the effects of the biomimetic suction-disc soft-lip material, preload, and lamellar movement on the tangential friction force (both forward and backward) under different adhesion states. This biomimetic suction disc with a low-modulus soft lip can adhere to a smooth surface under 0.1 N preload and achieve normal adhesion-force and tangential frictional-force control ranges spanning ∼10^-1to ∼10²N and ∼10^-1to ∼10¹N, respectively. The results reveal how remora disc achieved fast, tunable adhesion for skimming and sliding on surfaces. Furthermore, we demonstrate a bio-inspired robot capable of attachment, detachment, skimming, and sliding motions with the aiding of simple biomimetic pectoral-fin flapping. This study lays a foundation for future integrated applications of underwater adhesion robots and related biomechanical exploration.

Surface Adaptable and Adhesion Controllable Dry Adhesive with Shape Memory Polymer

Gecko foot consist of numerous micro/nano hierarchical hairs and exhibit a high adhesion onto various surfaces by the "van der Waals force". The gecko, despite its mighty adhesion, can travel efficiently with a rapid adhesion switching given that the end of hair in the gecko foot is slanted in one direction. Herein, we report a shape memory polymer (SMP)-based switchable dry adhesive (SSA), inspired by gecko foot, having tremendous surface adaptability and adhesion switching capability. The SSA shows not only high adhesion to the various surfaces (approximately 332.8 kPa) but also easy detachment (nearly 3.73 kPa) due to the characteristic of SMP, which can reversibly recover from a deformed shape to its initial shape. On the basis of the novel adhesion switching property, we suggest the SSA-applied advanced glass transfer system as a feasible application. This experiment confirms that an ultra-thin and light glass film is transferred easily and sustainably, and we believe that the SSA might be a breakthrough and a powerful alternative for not only conventional dry adhesive but also the next-level transfer systems. This article is protected by copyright. All rights reserved.

Bioinspired Underwater Adhesives

Underwater adhesives are in high demand in both commercial and industrial sectors. Compared with adhesives used in dry (air) environments, adhesives used for wet or submerged surfaces in aqueous environments have specific challenges in development and performance. In this review, focus is on adhesives demonstrating macroscopic adhesion to wet/underwater substrates. The current strategies are first introduced for different types of underwater adhesives, and then an overview is provided of the development and performance of underwater adhesives based on different mechanisms and strategies. Finally, the possible research directions and prospects of underwater adhesives are discussed.

Fabrication and Performance Evaluation of the Helmholtz Resonator Inspired Acoustic Absorber Using Various Materials

A soundwave is transmitted by adjacent molecules in the medium, and depending on the type of sound, it exhibits various characteristics such as frequency, sound pressure, etc. If the acoustic wavelength of the soundwave is sufficiently long compared with the size of an acoustic element, physical analysis within the sound element could be simplified regardless of the shape of the acoustic element: this is called “long wavelength approximation”. A Helmholtz resonator, a representative acoustic element which satisfies the “long wavelength theory”, consists of a neck part and a cavity part. The Helmholtz resonators can absorb certain frequencies of sound through resonance. To exhibit attenuation properties at ultrasound range, the Helmholtz resonator should be made into a microscale since Helmholtz resonators should satisfy the “long wavelength approximation”. In this study, Helmholtz resonator inspired acoustic elements were fabricated using MEMS technology, and acoustic attenuation experiments in a water bath were conducted using various shapes and materials. As a result, the fabricated samples showed admirable attenuation properties up to ~13 dB mm⁻¹ at 1 MHz. The results were analyzed to derive the necessary conditions for the fabrication of acoustic elements with acoustic attenuation properties in ultrasound range.

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

The clingfish attaches to rough surfaces with considerable strength using an intricate suction disc, which displays complex surface geometries from structures called papillae. However, the exact role of these structures in adhesion is poorly understood. To investigate the relationship between papillae geometry and adhesive performance, we developed an image processing tool that analyzed the surface and structural complexity of papillae, which we then used to model hydrodynamic adhesion. Our tool allowed for the automated analysis of thousands of papillae in specimens across a range of body sizes. The results led us to identify spatial trends in papillae across the complex geometry of the suction disc and to establish fundamental structure-function relationships used in hydrodynamic adhesion. We found that the surface area of papillae changed within a suction disc and with fish size, but that the aspect ratios and channel width between papillae did not. Using a mathematical model, we found that the surface structures can adhere considerably when subjected to disturbances of moderate to high velocities. We concluded that a predominant role of the papillae is to leverage hydrodynamic adhesion and wet friction to reinforce the seal of the suction disc. Overall, the trends in papillae characteristics provided insights into bioinspired designs of surface microstructures for future applications in which adhesion is necessary to attach to diverse surfaces (in terrestrial or aquatic environments), even when subjected to disturbance forces of randomized directionality.

Detachment of the remora suckerfish disc: kinematics and a bio-inspired robotic model

Remora suckerfish can attach to a wide diversity of marine hosts, however, their detachment mechanism remains poorly understood. Through analyzing high-speed videos, we found that the detachment of the live remora (Echeneis naucrates) is a rapid behavior that can happen within 240 ms. We separate this remarkable behavior into three stages: 1) lamellae folding down and soft lip curling, 2) disc raising and 3) complete detachment. To quantitatively investigate the detachment behavior, we fabricated a multi-material biomimetic disc and utilized it to study each stage of the detachment process. In stage one, we found that folding down lamellae is essential for decreasing the detachment resistance (vertical interfacial force and friction force) of the suction disc. Also, curling up the soft lip to breaking the adhesive seal reduced the vertical pull-off force up to 94 times. During disc raising in stage 2, we found that the partially flexible base (Young's modulus: ∼3 MPa) of the disc can lead to a 30% power-use reduction compared to a rigid base (Young's modulus: ∼3 GPa). After completing full detachment in stage 3, the corresponding drag wake flow decreased by 44% compared to an attached state due to lamellae folding and the entire soft lip uncurling. We developed a bio-inspired remora suckerfish robot propelled by a water jet to demonstrate a complete detachment which covers all three stages within 200 ms. We also demonstrated that an ROV has both hitchhiking and pick-and-place capabilities by integrating remora-inspired discs at appropriate locations. This study may shed light on future research in bio-inspired adhesives and lay a foundation for developing an untethered, multimodal, underwater hitchhiking robot.