Radial arrangement of Janus-like setae permits friction control in spiders

Controllable adhesive mechanisms via the internal fibers in soft footpads of honeybees

The dynamic adhesive systems in nature have served as inspirations for the development of intelligent adhesive surfaces. However, the mechanisms underlying the rapid controllable contact adhesion observed in biological systems have never been adequately explained. Here, the control principle for the unfolding adhesive footpads (alterable contact area) of honeybees is investigated. The footpads can passively unfold, even without neuro-muscular reflexes, in response to specific dragging activity (generating shear force) toward their bodies. This passive unfolding is attributed to the structural features of the soft footpads, which cooperate closely with shear force. Then, the hierarchical structures supported by numerous branching fibers were observed and analyzed. Experimental and theoretical findings demonstrated that shear force can decrease fibril angles with respect to the shear direction, which consequently induces the rotation of the interim contact area of the footpads and achieves their passive unfolding. Furthermore, the decrease in fibril angles can lead to an increase in the liquid pressure within the footpads, and subsequently enhance their unfolding. This study presents a novel approach for passively controlling the contact areas in adhesive systems, which can be applied to develop various bioinspired switchable adhesive surfaces.

Roughness tolerant pressure sensitive adhesives made of sticky crumpled sheets

If an adhesive is meant to be temporary, roughness often poses a challenge for design. An adhesive could be made soft so that it can deform and increase surface contact but a softer material will in general hold a smaller load. Bioinspired adhesives, made with numerous microscale posts, show promise as roughness tolerant adhesives but are complicated to fabricate. In this work, we show how thin polymer sheets, when crumpled into a roughly spherical shape, form a very simple and roughness tolerant adhesive system. We use micro and macro-scale experiments to measure adhesion forces between various substrates and crumpled polydimethylsiloxane sheets. We find the force-displacement curves resemble probe-tack experiments of traditional pressure sensitive adhesives and that moderate tensile forces are required to initiate interfacial failure. Notably, we see that sticky crumples often perform better on long wavelength roughness than they do on smooth substrates. In order to improve the peak pull-off forces, we create a sticky crumple from a thin sheet of a glassy polymer, polycarbonate, coated with an adhesive layer. This elasto-plastic sticky crumple achieves high pull-off forces even on the rough surface of a landscaping brick.

A bio-inspired robotic climbing robot to understand kinematic and morphological determinants for an optimal climbing gait

Robotic systems for complex tasks, such as search and rescue or exploration, are limited for wheeled designs, thus the study of legged locomotion for robotic applications has become increasingly important. To successfully navigate in regions with rough terrain, a robot must not only be able to negotiate obstacles, but also climb steep inclines. Following the principles of biomimetics, we developed a modular bio-inspired climbing robot, named X4, which mimics the lizard's bauplan including an actuated spine, shoulders, and feet which interlock with the surface via claws. We included the ability to modify gait and hardware parameters and simultaneously collect data with the robot's sensors on climbed distance, slip occurrence and efficiency. We first explored the speed-stability trade-off and its interaction with limb swing phase dynamics, finding a sigmoidal pattern of limb movement resulted in the greatest distance travelled. By modifying foot orientation, we found two optima for both speed and stability, suggesting multiple stable configurations. We varied spine and limb range of motion, again showing two possible optimum configurations, and finally varied the centre of pro- and retraction on climbing performance, showing an advantage for protracted limbs during the stride. We then stacked optimal regions of performance and show that combining optimal dynamic patterns with either foot angles or ROM configurations have the greatest performance, but further optima stacking resulted in a decrease in performance, suggesting complex interactions between kinematic parameters. The search of optimal parameter configurations might not only be beneficial to improve robotic in-field operations but may also further the study of the locomotive evolution of climbing of animals, like lizards or insects.

The spider cuticle: a remarkable material toolbox for functional diversity

Engineered systems are typically based on a large variety of materials differing in composition and processing to provide the desired functionality. Nature, however, has evolved materials that are used for a wide range of functional challenges with minimal compositional changes. The exoskeletal cuticle of spiders, as well as of other arthropods such as insects and crustaceans, is based on a combination of chitin, protein, water and small amounts of organic cross-linkers or minerals. Spiders use it to obtain mechanical support structures and lever systems for locomotion, protection from adverse environmental influences, tools for piercing, cutting and interlocking, auxiliary structures for the transmission and filtering of sensory information, structural colours, transparent lenses for light manipulation and more. This paper illustrates the 'design space' of a single type of composite with varying internal architecture and its remarkable capability to serve a diversity of functions. This article is part of the theme issue 'Bio-derived and bioinspired sustainable advanced materials for emerging technologies (part 1)'.

Role of legs and foot adhesion in salticid spiders jumping from smooth surfaces

Many spiders and insects can perform rapid jumps from smooth plant surfaces. Here, we investigate how jumping spiders (Pseudeuophrys lanigera and Sitticus pubescens) avoid slipping when accelerating. Both species differed in the relative contribution of leg pairs to the jump. P. lanigera accelerated mainly with their long third legs, whereas their short fourth legs detached earlier. In contrast, S. pubescens accelerated mainly with their long fourth legs, and their short third legs detached earlier. Because of the different orientation (fourth-leg tip pointing backward, third-leg tip pointing forward), the fourth-leg tarsus pushed, whereas the third-leg tarsus pulled. High-speed video recordings showed that pushing and pulling was achieved by different attachment structures. In P. lanigera, third-leg feet made surface contact with setae on their distal or lateral claw tuft, whereas fourth-leg feet engaged the proximal claw tuft, and the distal tuft was raised off the ground. S. pubescens showed the same division of labour between proximal and distal claw tuft for pushing and pulling, but the claw tuft contact lasted longer and was more visible in the fourth than in the third legs. Experimental ablation of claw tufts caused accelerating spiders to slip, confirming that adhesion is essential for jumps from smooth substrates.

Measuring strain in the exoskeleton of spiders-virtues and caveats

The measurement of cuticular strain during locomotion using foil strain gauges provides information both on the loads of the exoskeleton bears and the adaptive value of the specific location of natural strain detectors (slit sense organs). Here, we critically review available literature. In tethered animals, by applying loads to the metatarsus tip, strain and mechanical sensitivity (S = strain/load) induced at various sites in the tibia were determined. The loci of the lyriform organs close to the tibia-metatarsus joint did not stand out by high strain. The strains induced at various sites during free locomotion can be interpreted based on S and, beyond the joint region, on beam theory. Spiders avoided laterad loading of the tibia-metatarsus joint during slow locomotion. Balancing body weight, joint flexors caused compressive strain at the posterior and dorsal tibia. While climbing upside down strain measurements indicate strong flexor activity. In future studies, a precise calculation and quantitative determination of strain at the sites of the lyriform organs will profit from more detailed data on the overall strain distribution, morphology, and material properties. The values and caveats of the strain gauge technology, the only one applicable to freely moving spiders, are discussed.

A spider in motion: facets of sensory guidance

Spiders show a broad range of motions in addition to walking and running with their eight coordinated legs taking them towards their resources and away from danger. The usefulness of all these motions depends on the ability to control and adjust them to changing environmental conditions. A remarkable wealth of sensory receptors guarantees the necessary guidance. Many facets of such guidance have emerged from neuroethological research on the wandering spider Cupiennius salei and its allies, although sensori-motor control was not the main focus of this work. The present review may serve as a springboard for future studies aiming towards a more complete understanding of the spider's control of its different types of motion. Among the topics shortly addressed are the involvement of lyriform slit sensilla in path integration, muscle reflexes in the walking legs, the monitoring of joint movement, the neuromuscular control of body raising, the generation of vibratory courtship signals, the sensory guidance of the jump to flying prey and the triggering of spiderling dispersal behavior. Finally, the interaction of sensors on different legs in oriented turning behavior and that of the sensory systems for substrate vibration and medium flow are addressed.

Giant steps: adhesion and locomotion in theraphosid tarantulas

Theraphosid tarantulas are large spiders that bear dense hairy adhesive pads on the distal parts of their legs: scopula and claw tufts. These structures allow them to climb on vertical smooth surfaces and contribute to prey capture. While adult females and juveniles remain most of the time in their burrows, adult males actively walk searching for females during the reproductive period. Adhesion and locomotion thus play important roles in the ecology and reproduction of these animals. In this paper, we review the current state of the knowledge on adhesion and locomotion in tarantulas, focusing on functional and evolutionary morphology.

Multiple Mechanical Gradients are Responsible for the Strong Adhesion of Spider Attachment Hair

Wandering spiders climb vertically and walk upside-down on rough and smooth surfaces using a nanostructured attachment system on their feet. The spiders are assumed to adhere by intermolecular van der Waals forces between the adhesive structures and the substrate. The adhesive elements are arranged highly ordered on the hierarchically structured attachment hair (setae). While walking, it has been suggested that the spiders apply a shear force on their legs to increase friction. However, the detailed mechanical behavior of the hair's structures during attachment and detachment remains unknown. Here, gradients of the mechanical properties of the attachment hair on different length scales that have evolved to support attachment, stabilize adhesion in contact, and withstand high stress at detachment, examined by in situ experiments, are shown. Shearing helps to self-align the adhesive elements with the substrate. The study is anticipated to contribute to the development of optimized artificial dry adhesives.

Dynamic biological adhesion: mechanisms for controlling attachment during locomotion

The rapid control of surface attachment is a key feature of natural adhesive systems used for locomotion, and a property highly desirable for man-made adhesives. Here, we describe the challenges of adhesion control and the timescales involved across diverse biological attachment systems and different adhesive mechanisms. The most widespread control principle for dynamic surface attachment in climbing animals is that adhesion is 'shear-sensitive' (directional): pulling adhesive pads towards the body results in strong attachment, whereas pushing them away from it leads to easy detachment, providing a rapid mechanical 'switch'. Shear-sensitivity is based on changes of contact area and adhesive strength, which in turn arise from non-adhesive default positions, the mechanics of peeling, pad sliding, and the targeted storage and controlled release of elastic strain energy. The control of adhesion via shear forces is deeply integrated with the climbing animals' anatomy and locomotion, and involves both active neuromuscular control, and rapid passive responses of sophisticated mechanical systems. The resulting dynamic adhesive systems are robust, reliable, versatile and nevertheless remarkably simple. This article is part of the theme issue 'Transdisciplinary approaches to the study of adhesion and adhesives in biological systems'.

Traction reinforcement in prehensile feet of harvestmen (Arachnida, Opiliones)

Prehensile and gripping organs are recurring structures in different organisms that enhance friction by the reinforcement and redirection of normal forces. The relationship between organ structure and biomechanical performance is poorly understood, despite a broad relevance for microhabitat choice, movement ecology and biomimetics. Here, we present the first study of the biomechanics of prehensile feet in long-legged harvestmen. These arachnids exhibit the strongest sub-division of legs among arthropods, permitting extreme hyperflexion (i.e. curling up the foot tip). We found that despite the lack of adhesive foot pads, these moderately sized arthropods are able to scale vertical smooth surfaces, if the surface is curved. Comparison of three species of harvestmen differing in leg morphology shows that traction reinforcement by foot wrapping depends on the degree of leg sub-division, not leg length. Differences are explained by adaptation to different microhabitats on trees. The exponential increase of foot section length from distal to proximal introduces a gradient of flexibility that permits adaptation to a wide range of surface curvature while maintaining integrity at strong flexion. A pulley system of the claw depressor tendon ensures the controlled flexion of the high number of adesmatic joints in the harvestman foot. These results contribute to the general understanding of foot function in arthropods and showcase an interesting model for the biomimetic engineering of novel transportation systems and surgical probes.

Hierarchical architecture of spider attachment setae reconstructed from scanning nanofocus X-ray diffraction data

When sitting and walking, the feet of wandering spiders reversibly attach to many surfaces without the use of gluey secretions. Responsible for the spiders' dry adhesion are the hairy attachment pads that are built of specially shaped cuticular hairs (setae) equipped with approximately 1 µm wide and 20 nm thick plate-like contact elements (spatulae) facing the substrate. Using synchrotron-based scanning nanofocus X-ray diffraction methods, combining wide-angle X-ray diffraction/scattering and small-angle X-ray scattering, allowed substantial quantitative information to be gained about the structure and materials of these fibrous adhesive structures with 200 nm resolution. The fibre diffraction patterns showed the crystalline chitin chains oriented along the long axis of the attachment setae and increased intensity of the chitin signal dorsally within the seta shaft. The small-angle scattering signals clearly indicated an angular shift by approximately 80° of the microtrich structures that branch off the bulk hair shaft and end as the adhesive contact elements in the tip region of the seta. The results reveal the specific structural arrangement and distribution of the chitin fibres within the attachment hair's cuticle preventing material failure by tensile reinforcement and proper distribution of stresses that arise upon attachment and detachment.

A comparison of tarsal morphology and traction force in the two burying beetles Nicrophorus nepalensis and Nicrophorus vespilloides (Coleoptera, Silphidae)

Our aim was to compare friction and traction forces between two burying beetle species of the genus Nicrophorus exhibiting different attachment abilities during climbing. Specifically, the interaction of adhesive hairs and claws during attachment with respect to various surface properties was investigated by using a 2 × 3 experimental design. Traction force was measured for two different surface energies (hydrophilic vs hydrophobic) varying in roughness from smooth to micro-rough to rough. Nanotribometric tests on single legs were also performed. The external morphology of the attachment devices investigated by scanning electron microscopy suggested higher intra-specific (intersexual) than inter-specific differences. Whereas differences between the two species in traction force were high on smooth surfaces, no differences could be detected between males and females within each species. With claws intact, both species showed the highest forces on rough surfaces, although N. nepalensis with clipped claws performed best on a smooth surface. However, N. nepalensis beetles outperformed N. vespilloides, which showed no differences between smooth and rough surfaces with clipped claws. Both species demonstrated poor traction forces on micro-rough surfaces. Results concerning the impact of surface polarity were inconclusive, whereas roughness more strongly affected the attachment performance in both species. Nanotribometric analyses of the fore tarsi performed on micro-rough and rough surfaces revealed higher friction in the proximal (pull) direction compared with the distal (push) direction. In these experiments, we detected neither differences in friction performance between the two species, nor clear trends concerning the influence of surface polarity. We conclude that the investigated morphological traits are not critical for the observed interspecific difference in attachment ability on smooth surfaces. Furthermore, interspecific differences in performance are only clear on smooth surfaces and vanish on micro-rough and rough surfaces. Our results suggest that even subtle differences in the adhesion-mediating secretion in closely related species might result in qualitative performance shifts.

A Review of the State of Dry Adhesives: Biomimetic Structures and the Alternative Designs They Inspire

Robust and inexpensive dry adhesives would have a multitude of potential applications, but replicating the impressive adhesive organs of many small animals has proved challenging. A substantial body of work has been produced in recent years which has illuminated the many mechanical processes influencing a dry adhesive interface. The especially potent footpads of the tokay gecko have inspired researchers to develop and examine an impressive and diverse collection of artificial fibrillar dry adhesives, though study of tree frogs and insects demonstrate that successful adhesive designs come in many forms. This review discusses the current theoretical understanding of dry adhesive mechanics, including the observations from biological systems and the lessons learned by recent attempts to mimic them. Attention is drawn in particular to the growing contingent of work exploring ideas which are complimentary to or an alternative for fibrillar designs. The fundamentals of compliance control form a basis for dry adhesives made of composite and “smart,” stimuli-responsive materials including shape memory polymers. An overview of fabrication and test techniques, with a sampling of performance results, is provided.

On Heels and Toes: How Ants Climb with Adhesive Pads and Tarsal Friction Hair Arrays

Ants are able to climb effortlessly on vertical and inverted smooth surfaces. When climbing, their feet touch the substrate not only with their pretarsal adhesive pads but also with dense arrays of fine hairs on the ventral side of the 3rd and 4th tarsal segments. To understand what role these different attachment structures play during locomotion, we analysed leg kinematics and recorded single-leg ground reaction forces in Weaver ants (Oecophylla smaragdina) climbing vertically on a smooth glass substrate. We found that the ants engaged different attachment structures depending on whether their feet were above or below their Centre of Mass (CoM). Legs above the CoM pulled and engaged the arolia ('toes'), whereas legs below the CoM pushed with the 3rd and 4th tarsomeres ('heels') in surface contact. Legs above the CoM carried a significantly larger proportion of the body weight than legs below the CoM. Force measurements on individual ant tarsi showed that friction increased with normal load as a result of the bending and increasing side contact of the tarsal hairs. On a rough sandpaper substrate, the tarsal hairs generated higher friction forces in the pushing than in the pulling direction, whereas the reverse effect was found on the smooth substrate. When the tarsal hairs were pushed, buckling was observed for forces exceeding the shear forces found in climbing ants. Adhesion forces were small but not negligible, and higher on the smooth substrate. Our results indicate that the dense tarsal hair arrays produce friction forces when pressed against the substrate, and help the ants to push outwards during horizontal and vertical walking.

Tarantulas (Araneae: Theraphosidae) use different adhesive pads complementarily during climbing on smooth surfaces: experimental approach in eight arboreal and burrower species

Tarantulas are large spiders with adhesive setae on their legs, which enable them to climb on smooth vertical surfaces. The mechanism proposed to explain adhesion in tarantulas is anisotropic friction, where friction is higher when the leg pushes than when it pulls. However, previous studies and measurements of adhesion in theraphosids were performed using dead specimens. To test their ability to climb, we studied static friction of live theraphosid spiders on different surfaces and at different inclines. We compared burrower with arboreal species to test the hypothesis of higher friction in arboreal tarantulas. We found a complementary participation of claw tufts and scopula of anterior and posterior legs when the tarantula climbs. The mechanics of climbing in association with the biological characteristics of the species are discussed.

Functional anatomy of the pretarsus in whip spiders (Arachnida, Amblypygi)

Whip spiders (Amblypygi) are a small, cryptic order of arachnids mainly distributed in the tropics. Some basal lineages (families Charinidae and Charontidae) have adhesive pads on the tips of their six walking legs. The present study describes the macro- and ultrastructure of these pads and investigates their contact mechanics and adhesive strength on smooth and rough substrates. Furthermore, the structure of the pretarsus and its kinematics are compared in Charon cf. grayi (with an adhesive pad) and Phrynus longipes (without an adhesive pad). The adhesive pads exhibit an elaborate structure with a unique combination of structural features of smooth and hairy foot pads including a long transversal contact zone performing lateral detachment, a thick internally-branched cuticle with longitudinal ribs and hexagonal surface microstructures with spatulate keels. The contact area of the pads on smooth glass is discontinuous due to the spatulate microstructures with a discontinuous detachment, which could be observed in vivo by high speed videography at a rate of up to 10,000 fps. Adhesive strength was measured with vertical whole animal pull-off tests, obtaining mean values between 55 and 200 kPa. The occurrence of viscous lipid secretions between microstructures was occasionally observed, which, however, seems not to be a necessity for good foothold. The results are discussed in relation to the whip spider's ecology and evolution. Structure-function relationships of the adhesive pads are compared to those of insects and vertebrates.

Energy saving strategies of honeybees in dipping nectar

The honeybee's drinking process has generally been simplified because of its high speed and small scale. In this study, we clearly observed the drinking cycle of the Italian honeybee using a specially designed high-speed camera system. We analysed the pattern of glossal hair erection and the movement kinematics of the protracting tongue (glossa). Results showed that the honeybee used two special protraction strategies to save energy. First, the glossal hairs remain adpressed until the end of the protraction, which indicates that the hydraulic resistance is reduced to less than 1/3 of that in the case if the hairs remain erect. Second, the glossa protracts with a specific velocity profile and we quantitatively demonstrated that this moving strategy helps reduce the total energy needed for protraction compared with the typical form of protraction with constant acceleration and deceleration. These findings suggest effective methods to optimise the control policies employed by next-generation microfluidic pumps.

Internally architectured materials with directionally asymmetric friction

Internally Architectured Materials (IAMs) that exhibit different friction forces for sliding in the opposite directions are proposed. This is achieved by translating deformation normal to the sliding plane into a tangential force in a manner that is akin to a toothbrush with inclined bristles. Friction asymmetry is attained by employing a layered material or a structure with parallel 'ribs' inclined to the direction of sliding. A theory of directionally asymmetric friction is presented, along with prototype IAMs designed, fabricated and tested. The friction anisotropy (the ξ-coefficient) is characterised by the ratio of the friction forces for two opposite directions of sliding. It is further demonstrated that IAM can possess very high levels of friction anisotropy, with ξ of the order of 10. Further increase in ξ is attained by modifying the shape of the ribs to provide them with directionally dependent bending stiffness. Prototype IAMs produced by 3D printing exhibit truly giant friction asymmetry, with ξ in excess of 20. A novel mechanical rectifier, which can convert oscillatory movement into unidirectional movement by virtue of directionally asymmetric friction, is proposed. Possible applications include locomotion in a constrained environment and energy harvesting from oscillatory noise and vibrations.

The whole is more than the sum of all its parts: collective effect of spider attachment organs

Dynamic attachment is the key to moving safely and fast in a three-dimensional environment. Among lizards, hexapods and arachnids, several lineages have evolved hairy foot pads that can generate strong friction and adhesion on both smooth and rough surfaces. A strongly expressed directionality of attachment structures results in an anisotropy of frictional properties, which might be crucial for attachment control. In a natural situation, more than one leg is usually in contact with the substrate. In order to understand the collective effect of hairy foot pads in the hunting spider Cupiennius salei (Arachnida, Ctenidae), we performed vertical pulling experiments combined with stepwise disabling of the pads. We found the attachment force of the spider to be not simply the sum of single leg forces because with leg pair deactivation a much greater decrease in attachment forces was found than was predicted by just the loss of available adhesive pad area. This indicates that overall adhesion ability of the spider is strongly dependent on the antagonistic work of opposing legs, and the apparent contact area plays only a minor role. It is concluded that the coordinated action of the legs is crucial for adhesion control and for fast and easy detachment. The cumulative effect of anisotropic fibrillar adhesive structures could be potentially interesting for biomimetic applications, such as novel gripping devices.

The great silk alternative: multiple co-evolution of web loss and sticky hairs in spiders

Spiders are the most important terrestrial predators among arthropods. Their ecological success is reflected by a high biodiversity and the conquest of nearly every terrestrial habitat. Spiders are closely associated with silk, a material, often seen to be responsible for their great ecological success and gaining high attention in life sciences. However, it is often overlooked that more than half of all Recent spider species have abandoned web building or never developed such an adaptation. These species must have found other, more economic solutions for prey capture and retention, compensating the higher energy costs of increased locomotion activity. Here we show that hairy adhesive pads (scopulae) are closely associated with the convergent evolution of a vagrant life style, resulting in highly diversified lineages of at least, equal importance as the derived web building taxa. Previous studies often highlighted the idea that scopulae have the primary function of assisting locomotion, neglecting the fact that only the distal most pads (claw tufts) are suitable for those purposes. The former observations, that scopulae are used in prey capture, are largely overlooked. Our results suggest the scopulae evolved as a substitute for silk in controlling prey and that the claw tufts are, in most cases, a secondary development. Evolutionary trends towards specialized claw tufts and their composition from a low number of enlarged setae to a dense array of slender ones, as well as the secondary loss of those pads are discussed further. Hypotheses about the origin of the adhesive setae and their diversification throughout evolution are provided.