Subdigital setae of chameleon feet: friction-enhancing microstructures for a wide range of substrate roughness

Leg Attachment Devices of Tiger Beetles (Coleoptera, Cicindelidae) and Their Relationship to Their Habitat Preferences

The ability of many insects to adhere vertically or even upside down to smooth substrates is closely related to the morphology and distribution of the adhesive structures on their legs. During locomotion, the legs are in direct contact with different substrates, and it is hypothesized that the adhesive structures have been evolved as an adaption to smooth substrates in specific environments. To investigate whether there is a relationship between the presence of adhesive structures and the combined effects of different environments and mating behavior, we compared five species of tiger beetles belonging to two tribes living in arboreal and non-arboreal environments, respectively. In three non-arboreal species, we found a specific type of adhesive structure consisting of elongated spoon-like setae present on the protarsi of males but absent on the male meso- and metatarsi and on females. In Tricondyla pulchripes, an arboreal species living on stems, we found three types of adhesive setae on male protarsi, while only two types of setae were found on male meso- and metatarsi and on females. In Neocollyris linearis, an arboreal species living on leaves, we found three types of adhesive setae on male pro-, meso- and meta-tarsi but only two types of adhesive setae on females. The adaptive evolution of these adhesive structures was probably driven by the selective pressures of both mating behavior and the presence of smooth substrates in the respective environments. It is discussed that the adhesive structures in tiger beetles may be an adaptive evolutionary response to the plant surfaces and may play an important role in species differentiation.

Microhabitat and adhesive toepads shape gecko limb morphology

Different substrates pose varied biomechanical challenges that select specific morphologies, such as long limbs for faster running and short limbs for balanced posture while climbing narrow substrates. We tested how gecko locomotion is affected by the microhabitat they occupy and by a key adaptation-adhesive toepads-through analyzing how those are related to limb morphology. We collected microhabitat and toepads data for over 90% of limbed gecko species, and limb measurements for 403 species from 83 of the 121 limbed gecko genera, which we then used in phylogenetic comparative analyses. Our data highlight the association of adhesive toepads with arboreality, but a phylogenetic analysis shows that this relationship is not significant, suggesting that these traits are phylogenetically constrained. Comparative analyses reveal that pad-bearing species possess shorter hindlimbs and feet, more even limb lengths, and lower crus: thigh ratios, than padless geckos, across microhabitats. Saxicolous geckos have the longest limbs and limb segments. This is probably influenced by selection for long strides, increased takeoff velocity, and static stability on inclined surfaces. Terrestrial geckos have more even hind- and forelimbs than arboreal geckos, unlike patterns found in other lizards. Our findings underline the difficulty to infer on microhabitat-morphology relationships from one taxon to another, given their differing ecologies and evolutionary pathways. We emphasize the importance of key innovation traits, such as adhesive toepads, in shaping limb morphology in geckos and, accordingly, their locomotion within their immediate environment.

Bristles formation in adhesive pads and sensilli of the gecko Tarentola mauritanica derive from a massive accumulation of corneous material in Oberhautchen cells of the epidermis

Among lizards, geckos possess special digital scales modified as hairy-like lamellae that allow attachment to vertical substrates for the movement using adhesive nanoscale filaments called setae. The present study shows new ultrastructural details on setae formation in the gecko Tarentula mauritanica. Setae derive from the special differentiation of an epidermal layer termed Oberhauchen and can reach 30-60 µm in length. Oberhautchen cells in the adhesive pad lamellae becomes hypertrophic and rest upon 2 layers of non-corneous and pale cells instead of beta-cells like in the other scales. Only 1-2 beta-layers are formed underneath the pale layer. Setae derive from the accumulation of numerous roundish and heterogenous beta-packets with variable electron-density in Oberhautchen cells, possibly indicating a mixed protein composition. Immunofluorescence and immunogold labeling for CBPs show that beta-packets merge at the base of the growing setae forming long corneous bundles. Pale cells formed underneath the Oberhautchen layer contain small vesicles or tubules with a likely lipid content, sparse keratin filaments and ribosomes. In mature lamellae these cells merge with Oberhautchen and beta-cells forming a thin electron-paler layer located between the Oberhautchen and the thin beta-layer, a variation of the typical sequence of epidermal layers present in other scales. The formation of a softer pale layer and of a thin beta-layer likely determines a flexible corneous support for the adhesive setae. The specific molecular mechanism that stimulates the cellular changes observed during Oberhautchen hypertrophy and the alteration of the typical epidermal stratification in the pad epidermis remains unknown.

Studying Stickiness: Methods, Trade-Offs, and Perspectives in Measuring Reversible Biological Adhesion and Friction

Controlled, reversible attachment is widely spread throughout the animal kingdom: from ticks to tree frogs, whose weights span from 2 mg to 200 g, and from geckos to mosquitoes, who stick under vastly different situations, such as quickly climbing trees and stealthily landing on human hosts. A fascinating and complex interplay of adhesive and frictional forces forms the foundation of attachment of these highly diverse systems to various substrates. In this review, we present an overview of the techniques used to quantify the adhesion and friction of terrestrial animals, with the aim of informing future studies on the fundamentals of bioadhesion, and motivating the development and adoption of new or alternative measurement techniques. We classify existing methods with respect to the forces they measure, including magnitude and source, i.e., generated by the whole body, single limbs, or by sub-structures. Additionally, we compare their versatility, specifically what parameters can be measured, controlled, and varied. This approach reveals critical trade-offs of bioadhesion measurement techniques. Beyond stimulating future studies on evolutionary and physicochemical aspects of bioadhesion, understanding the fundamentals of biological attachment is key to the development of biomimetic technologies, from soft robotic grippers to gentle surgical tools.

Size, shape and orientation of macro-sized substrate protrusions affect the toe and foot adhesion of geckos

Geckos are excellent climbers using compliant, hierarchically arranged adhesive toes to negotiate diverse terrains varying in roughness at multiple size scales. Here, we complement advancements at smaller size scales with measurements at the macro scale. We studied the attachment of a single toe and whole foot of geckos on macroscale rough substrates by pulling them along, across and off smooth rods and spheres mimicking different geometric protrusions of substrates. When we pulled a single toe along rods, the force increased with the rod diameter, whereas the attachment force of dragging toes across rods increased from about 60% on small diameter rods relative to a flat surface to ∼100% on larger diameter rods, but showed no further increase as rod diameter doubled. Toe force also increased as the pulling changed from along-rod loading to across-rod loading. When toes were pulled off spheres, the force increased with increasing sphere diameter as observed for along-rod pulling. For feet with separated toes, attachment on spheres was stronger than that on rods with the same diameter. Attachment force of a foot decreased as rod and sphere size increased but remained sufficient to support the body weight of geckos. These results provide a bridge to the macroscale roughness seen in nature by revealing the importance of the dimension, shape and orientation of macroscale substrate features for compliant toe and foot function of geckos. Our data not only enhance our understanding of geckos' environmental adaptive adhesion but can also provide inspiration for novel robot feet in development.

Parallel evolution of toepads in rock-dwelling lineages of a terrestrial gecko (Gekkota: Gekkonidae: Heteronotia binoei)

Selection for effective locomotion can lead to specialized morphological structures. Adhesive toepads, which have arisen independently in different lizard clades, facilitate the use of vertical and inverted substrates. Their evolution is poorly understood because functionally intermediate morphological configurations between padless and pad-bearing forms are rare. To shed light on toepad evolution, we assessed the subdigital morphology of phylogenetically distinct lineages of the Bynoe’s gecko species complex (Heteronotia binoei). Most populations of H. binoei are terrestrial, but two relatively distantly related saxicoline (rock-dwelling) lineages have enlarged terminal subdigital scales resembling toepads. We reconstructed the ancestral terminal subdigital scale size of nine lineages of H. binoei in eastern Australia, including these two saxicoline lineages. Additionally, we compared the subdigital microstructures of four lineages: the two saxicoline lineages and their respective terrestrial sister-lineages. Surprisingly, all four lineages had fully developed setae, but the setae of the two saxicoline lineages were significantly longer, branched more often and were more widely spaced than the terrestrial sister-lineages. We conclude that the saxicoline lineages represent examples of parallel evolution of enlarged adhesive structures in response to vertical substrate use, and their morphology represents a useful model as an intermediate state in toepad evolution.

3D Printed Biomimetic Soft Robot with Multimodal Locomotion and Multifunctionality

Soft robots can outperform traditional rigid robots in terms of structural compliance, enhanced safety, and efficient locomotion. However, it is still a grand challenge to design and efficiently manufacture soft robots with multimodal locomotion capability together with multifunctionality for navigating in dynamic environments and meanwhile performing diverse tasks in real-life applications. This study presents a 3D-printed soft robot, which has spatially varied material compositions (0-50% particle-polymer weight ratio), multiscale hierarchical surface structures (10 nm, 1 μm, and 70 μm features on 5 mm wide robot footpads), and consists of functional components for multifunctionality. A novel additive manufacturing process, magnetic-field-assisted projection stereolithography (M-SL), is innovated to fabricate the proposed robot with prescribed material heterogeneity and structural hierarchy, and hence locally engineered flexibility and preprogrammed functionality. The robot incorporates untethered magnetic actuation with superior multimodal locomotion capabilities for completing tasks in harsh environments, including effective load carrying (up to ∼30 times of its own weight) and obstacle removing (up to 6.5 times of its own weight) in congested spaces (e.g., 5 mm diameter glass tube, gastric folds of a pig stomach) by gripping or pushing objects (e.g., 0.3-8 times of its own weight with a velocity up to 31 mm/s). Furthermore, the robot footpads are covered by multiscale hierarchical spike structures with features spanning from nanometers (e.g., 10 nm) to millimeters. Such high structural hierarchy enables multiple superior functions, including changing a naturally hydrophilic surface to hydrophobic, hairy adhesion, and excellent cell attaching and growth properties. It is found that the hairy adhesion and the engineered hydrophobicity of the robot footpad enable robust navigation in wet and slippery environments. The multimaterial multiscale robot design and the direct digital manufacturing method enable complex and versatile robot behaviors in sophisticated environments, facilitating a wide spectrum of real-life applications.

Bioinspired Interfacial Strengthening Flexible Supercapacitors via Hierarchically Topological Interlocking Strategy

Flexible micro-supercapacitors (MSCs) featured with high storage capacity and mechanical stability are essential and indispensable for the development of wearable devices. Since the active materials physically deposited on the current collectors are rigid and will be desquamated under the mechanical cycling, the performance of flexible MSCs is still limited by the weak interfacial adhesions between materials and collectors. The effective strategy to strengthen the interfacial adhesion is one important key to achieve high-performance flexible MSCs. In this work, a flexible symmetrical micro-supercapacitor with a bioinspired hierarchically topological interlocking interfacial enhancement strategy was presented. Based on the high stability metal current collectors on the polyimide substrate, two-level 3D interlocking structures between the active materials and the current collectors were further utilized, which was inspired by the structures of a gecko's feet and a tree's roots in rock cracks, respectively. Through these 3D interlocking structures, the effective contact areas and the adhesion strengths of two interfaces, that is, the active material/current collectors and the current collector/substrate interfaces, are significantly enhanced. The energy density of the interfacial enhanced active carbon symmetrical MSC (IE SMSC) has been improved over 3 times in comparison with the in-plane active carbon SMSC (SMSC). The capacitance of IE SMSC can remain 92.9% even after 5000 cycles of bending treatment. Even more remarkable, the potential window of the IE SMSC can expand to 1.6 V in the aqueous electrolyte. The results show that the hierarchically topological interlocking strategy can not only ensure the mechanical stability of the flexible MSC but also improve its energy efficiency. Our strategy provides a new perspective for the study of flexible supercapacitors and various flexible devices to achieve high adhesion, high flexibility, and high electrical capacitive performance.

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.

Octopus-Inspired Assembly of Nanosucker Arrays for Dry/Wet Adhesion

The octopus is capable of adhering to slippery, rough, and irregular surfaces in the marine intertidal zone because of its periodic infundibulum-shaped suckers on the arms. Here, we present a scalable self-assembly technology for fabricating adhesion materials that mimic octopus sucker functionality. By utilizing spin-coated two-dimensional colloidal crystals as templates, non-close-packed nanosucker arrays are patterned on silicone substrates. The resulting nanosuckers can be deformed to exhibit great adhesive capacities on both microrough and flat surfaces in dry and wet environments. This indicates a probable biomimetic solution to the challenge of wound care.

To attach or not to attach? The effect of carrier surface morphology and topography on attachment of phoretic deutonymphs of Uropoda orbicularis (Acari)

Previous studies on preferences of phoretic deutonymphs of Uropodina for attachment sites have shown that they frequently select smooth and hydrophobic surfaces. The aim of our study was to provide the detailed morphological and topographical characteristics of beetle body surfaces to which deutonymphs frequently attach and to verify how the presence of setae and surface sculpture affects deutonymph attachment. The study was conducted on Uropoda orbicularis (Müller, 1776) and its common beetle carriers: Aphodius prodromus (Brahm, 1790), Aphodius fimetarius (Linnaeus, 1758), Onthophagus nuchicornis (Linnaeus, 1758) and Margarinotus carbonarius (Hoffmann, 1803). Morphology and topography of elytra, femora, propygidia and pygidia of beetles were analysed mainly using SEM methods supported with CLSM and AFM techniques. The hypothesis that deutonymphs may attach to surfaces covered with setae, if seta density is low enough not to disturb mite movement, was tested. The study revealed that deutonymphs attach to surfaces of various types as follows: (i) smooth, (ii) hairy, i.e., covered with setae, (iii) flat and (iv) sculptured. Smooth body parts and body parts covered with setae of low density were most frequently and intensively occupied with deutonymphs. Surfaces of high seta density were avoided by mites. Within elytra of Aphodius beetles, deutonymphs definitely preferred flat surfaces of elytral intervals. On the contrary, densely punctuated propygidium and pygidium in M. carbonarius were heavily infested with deutonymphs. We conclude that carrier surface morphology and topography are important for Uropodina deutonymph attachment, but these two factors cannot fully explain the observed relation.

Sticky fingers: Adhesive properties of human fingertips

Fingertip friction is a rather well studied subject. Although the phenomenon of finger stickiness is known as well, the pull-off force and the adhesive strength of human finger tips have never been previously quantified. For the first time, we provided here characterization of adhesive properties of human fingers under natural conditions. Human fingers can generate a maximum adhesive force of 15mN on a smooth surface of epoxy resin. A weak correlation of the adhesive force and the normal force was found on all test surfaces. Up to 300mN load, an increase of the normal force leads to an increase of the adhesive force. On rough surfaces, the adhesive strength is significantly reduced. Our data collected from untreated hands give also an impression of an enormous scattering of digital adhesion depending on a large set of inter-subject variability and time-dependent individual factors (skin texture, moisture level, perspiration). The wide inter- and intra-individual range of digital adhesion should be considered in developing of technical and medical products.

Rate-dependence of 'wet' biological adhesives and the function of the pad secretion in insects

Many insects use soft adhesive footpads for climbing. The surface contact of these organs is mediated by small volumes of a liquid secretion, which forms thin films in the contact zone. Here, we investigate the role of viscous dissipation by this secretion and the 'bulk' pad cuticle by quantifying the rate-dependence of the adhesive force of individual pads. Adhesion increased with retraction speed, but this effect was independent of the amount of pad secretion present in the contact zone, suggesting that the secretion's viscosity did not play a significant role. Instead, the rate-dependence can be explained by relating the strain energy release rate to the speed of crack propagation, using an established empirical power law. The 'wet' pads' behaviour was akin to that of 'dry' elastomers, with an equilibrium energy release rate close to that of dry van-der-Waals contacts. We suggest that the secretion mainly serves as a 'release layer', minimising viscous dissipation and thereby reducing the time- and 'loading-history'-dependence of the adhesive pads. In contrast to many commercial adhesives which derive much of their strength from viscous dissipation, we show that the major modulator of adhesive strength in 'wet' biological adhesive pads is friction, exhibiting a much larger effect than retraction speed. A comparison between 'wet' and 'dry' biological adhesives, using both results from this study and the literature, revealed a striking lack of differences in attachment performance under varying experimental conditions. Together, these results suggest that 'wet' and 'dry' biological adhesives may be more similar than previously thought.

Modelling clustering of vertically aligned carbon nanotube arrays

Previous research demonstrated that arrays of vertically aligned carbon nanotubes (VACNTs) exhibit strong frictional properties. Experiments indicated a strong decrease of the friction coefficient from the first to the second sliding cycle in repetitive measurements on the same VACNT spot, but stable values in consecutive cycles. VACNTs form clusters under shear applied during friction tests, and self-organization stabilizes the mechanical properties of the arrays. With increasing load in the range between 300 µN and 4 mN applied normally to the array surface during friction tests the size of the clusters increases, while the coefficient of friction decreases. To better understand the experimentally obtained results, we formulated and numerically studied a minimalistic model, which reproduces the main features of the system with a minimum of adjustable parameters. We calculate the van der Waals forces between the spherical friction probe and bunches of the arrays using the well-known Morse potential function to predict the number of clusters, their size, instantaneous and mean friction forces and the behaviour of the VACNTs during consecutive sliding cycles and at different normal loads. The data obtained by the model calculations coincide very well with the experimental data and can help in adapting VACNT arrays for biomimetic applications.

Microornamentation of leaf chameleons (Chamaeleonidae: Brookesia, Rhampholeon, and Rieppeleon)--with comments on the evolution of microstructures in the Chamaeleonidae

Chameleons (Chamaeleonidae) feature many adaptations to their arboreal lifestyle, including zygodactylous feet, a prehensile tail, and epidermal microstructures. In arboreal tree chameleons, the substrate-contacting site of the feet and tail is covered by microscopic hair-like structures (setae) of 6-20 µm length. Their friction enhancing function has been shown in recent studies. Leaf chameleons and one representative of the tree chameleons (Chamaeleo namaquensis) secondarily have become ground-dwelling. Because leaf chameleons are paraphyletic, one could expect that in the three leaf chameleon genera Brookesia, Rhampholeon, and Rieppeleon and the tree chameleon Ch. namaquensis, epidermis has adapted independently to terrestrial locomotion. Using scanning electron microscopy, we investigated the substrate-contacting surfaces of the feet (subdigital) of 17 leaf chameleon species and five tree chameleon species that have not yet been examined. Additionally, surfaces not involved in locomotion, the flanks (dorsolateral), and scale interstices, were examined. Although the subdigital microstructures in leaf chameleons are more diverse than in tree chameleons, we found some features across the genera. The subdigital microornamentation of Rhampholeon spinosus consists of long thin setae and spines, comparable to those of tree chameleons. All other Rhampholeon species have spines or short but broad setae. Rh. spectrum had tooth-like structures instead of setae. Subdigital scales of Brookesia have either thorns or conical scale-tops in the center and feature honeycomb microstructures. In Rieppeleon, subdigital scales have a thorn. Scale surfaces are covered by honeycombs and short hair-like structures (spines). As subdigital scales with a thorn in the center and honeycomb microstructures were also found in the terrestrial tree chameleon Ch. namaquensis, one can assume that this geometry is a convergent adaptation to terrestrial locomotion. Despite the great number of genus-specific traits, the convergent evolution of honey-comb structures in Brookesia, Rieppeleon, and Ch. namaquensis and the high variability of spines and setae in Rhampholeon suggests a rapid adaptation of subdigital microornamentation in Chamaeleonidae.