Switchable origami adhesives

Creating a reusable adhesive that can hold objects on a wall and can yet be easily removed al for researchers in the adhesives community for many years. Geckos and other climbing organisms demonstrate just this ability: to hold large loads (on-state) due to specialized digits and microstructures, yet they are also able to quickly peel their feet from a surface while climbing (off-state). Inspired by the simplicity of the gecko's geometric switching mechanism, we have investigated the use of origami design methods to create geometries that can transition from a stiff configuration to a more flexible and easily peeled configuration. Specifically, we examined three different origami designs (Kresling, Waterbomb and Ron Resch) fabricated in polycarbonate and supplemented with 3D printed structures. Although the polycarbonate could be coated with a commercial adhesive, we investigated the devices in contact with polydimethylsiloxane adhesive pads in order to chemically control interfaces and create a range of differing adhesion levels. We show that the devices are capable of moderate switching ratios (Fon/Foff up to ∼50). We give a simple model to aid design and provide many options for scaling design performance through size, adhesive strength or through repetition of the pattern beyond a single unit cell.

A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation

Today's gecko-inspired robots have shown the ability of omnidirectional climbing on slopes with a low centre of mass. However, such an ability cannot efficiently cope with bumpy terrains or terrains with obstacles. In this study, we developed a gecko-inspired robot (Nyxbot) with an adaptable body height to overcome this limitation. Based on an analysis of the skeletal system and kinematics of real geckos, the adhesive mechanism and leg structure design of the robot were designed to endow it with adhesion and adjustable body height capabilities. Neural control with exteroceptive sensory feedback is utilised to realise body height adaptability while climbing on a slope. The locomotion performance and body adaptability of the robot were tested by conducting slope climbing and obstacle crossing experiments. The gecko robot can climb a 30° slope with spontaneous obstacle crossing (maximum obstacle height of 38% of the body height) and can climb even steeper slopes (up to 60°) without an obstacle or bump. Using 3D force measuring platforms for ground reaction force analysis of geckos and the robot, we show that the motions of the developed robot driven by neural control and the motions of geckos are dynamically comparable. To this end, this study provides a basis for developing climbing robots with adaptive bump/obstacle crossing on slopes towards more agile and versatile gecko-like locomotion.

Controlled Vertically Aligned Structures in Polymer Composites: Natural Inspiration, Structural Processing, and Functional Application

Vertically aligned structures, which are a series of characteristic conformations with thickness-direction alignment, interconnection, or assembly of filler in polymeric composite materials that can provide remarkable structural performance and advanced anisotropic functions, have attracted considerable attention in recent years. The past two decades have witnessed extensive development with regard to universal fabrication methods, subtle control of morphological features, improvement of functional properties, and superior applications of vertically aligned structures in various fields. However, a systematic review remains to be attempted. The various configurations of vertical structures inspired from biological samples in nature, such as vertically aligned structures with honeycomb, reed, annual ring, radial, and lamellar configurations are summarized here. Additionally, relevant processing methods, which include the transformation of oriented direction, external-field inducement, template method, and 3D printing method, are discussed in detail. The diverse applications in mechanical, thermal, electric, dielectric, electromagnetic, water treatment, and energy fields are also highlighted by providing representative examples. Finally, future opportunities and prospects are listed to identify current issues and potential research directions. It is expected that perspectives on the vertically aligned structures presented here will contribute to the research on advanced multifunctional composites.

The effect of variable temperature, humidity, and substrate wettability on Gecko (Gekko gecko) locomotor performance and behavior

Adhesive and locomotor performances of geckos are inherently linked by specialized morphological and biomechanical features. As such, we predict that conditions that lead to poor adhesive performance (i.e., low resistance to applied force while clinging) also lead to poor locomotor performance and behavior (i.e., slowed running speed, increased frequency and duration of stops, more failed or incomplete runs). In this study, we test the prediction that running speed changes as a function of adhesive performance in variable temperature (12 and 32°C), humidity (30, 55, 70, 80% relative humidity), and substrate wettability (hydrophilic glass, intermediately wetting plexiglass). We also expect other locomotor performance traits and behaviors, such as stopping and avoiding treatment conditions, to change as a function of adhesive performance. The results of this study do not fully support our prediction: gecko locomotor performance does not change as a function of humidity or substrate wettability, unlike adhesive performance. As an anticipated result of ectothermy, geckos run significantly slower and stop more frequently and longer at 12°C than 32°C. At high temperature, geckos required significantly more running attempts on hydrophilic glass than plexiglass to complete the experimental procedure, suggesting that this treatment condition is unfavorable. The results of this study highlight the robust locomotive response of geckos to variation in adhesive performance and environmental conditions, and have significant implications for predictions about habitat use and behavior in their natural environment.

Revisiting the classification of squamate adhesive setae: historical, morphological and functional perspectives

Research on gecko-based adhesion has become a truly interdisciplinary endeavour, encompassing many disciplines within the natural and physical sciences. Gecko adhesion occurs by the induction of van der Waals intermolecular (and possibly other) forces between substrata and integumentary filaments (setae) terminating in at least one spatulate tip. Gecko setae have increasingly been idealized as structures with uniform dimensions and a particular branching pattern. Approaches to developing synthetic simulacra have largely adopted such an idealized form as a foundational template. Observations of entire setal fields of geckos and anoles have, however, revealed extensive, predictable variation in setal form. Some filaments of these fields do not fulfil the morphological criteria that characterize setae and, problematically, recent authors have applied the term 'seta' to structurally simpler and likely non-adhesively competent fibrils. Herein we briefly review the history of the definition of squamate setae and propose a standardized classificatory scheme for epidermal outgrowths based on a combination of whole animal performance and morphology. Our review is by no means comprehensive of the literature regarding the form, function, and development of the adhesive setae of squamates and we do not address significant advances that have been made in many areas (e.g. cell biology of setae) that are largely tangential to their classification and identification. We contend that those who aspire to simulate the form and function of squamate setae will benefit from a fuller appreciation of the diversity of these structures, thereby assisting in the identification of features most relevant to their objectives.

Air-encapsulating elastic mechanism of submerged Taraxacum blowballs

In this article, we report the observation of an air-encapsulating elastic mechanism of Dandelion spherical seed heads, namely blowballs, when submerged underwater. This peculiarity seems to be fortuitous since Taraxacum is living outside water; nevertheless, it could become beneficial for a better survival under critical conditions, e.g. of temporary flooding. The scaling of the volume of the air entrapped suggests its fractal nature with a dimension of 2.782 and a fractal air volume fraction of 4.82 × 10⁻² m^0.218, resulting in nominal air volume fractions in the range of 14–23%. This aspect is essential for the optimal design of bioinspired materials made up of Dandelion-like components. The miniaturization of such components leads to an increase in the efficiency of the air encapsulation up to the threshold (efficiency = 1) achieved for an optimal critical size. Thus, the optimal design is accomplished using small elements, with the optimal size, rather than using larger elements in a lower number. The described phenomenon, interesting per se, also brings bioinspired insights toward new related technological solutions for underwater air-trapping and air-bubbles transportation, e.g. the body surface of a man could allow an apnea (air consumption of 5–10 l/min) of about 10 min if it is covered by a material made up of a periodic repetition of Dandelion components of diameter ≅18 μm and having a total thickness of about 3–6 cm.

The role of hairs in the adhesion of octopus suckers: a hierarchical peeling approach

Organisms like the octopus or the clingfish are a precious source of inspiration for the design of innovative adhesive systems based on suction cups, but a complete mechanical description of their attachment process is still lacking. In this paper, we exploit the recent discovery of the presence of hairs in the acetabulum roof of octopus suction cups to revise the current model for its adhesion to the acetabulum wall. We show how this additional feature, which can be considered an example of a hierarchical structure, can lead to an increase of adhesive strength, based on the analysis of the cases of a simple tape and an axisymmetrical membrane adhering to a substrate. Using peeling theory, we discuss in both cases the influence of hierarchical structure and the resulting variation of geometry on the adhesive energy, highlighting how an increase in number of hierarchical levels contributes to its increment, with a corresponding improvement in functionality for the octopus suckers.

Snap-buckling in asymmetrically constrained elastic strips

When a flat elastic strip is compressed along its axis, it is bent in one of two possible directions via spontaneous symmetry breaking, forming a cylindrical arc. This is a phenomenon well known as Euler buckling. When this cylindrical section is pushed in the other direction, the bending direction can suddenly reverse. This instability is called "snap-through buckling" and is one of the elementary shape transitions in a prestressed thin structure. Combining experiments and theory, we study snap-buckling of an elastic strip with one end hinged and the other end clamped. These asymmetric boundary constraints break the intrinsic symmetry of the strip, generating mechanical behaviors, including largely hysteretic but reproducible force responses and switchlike discontinuous shape changes. We establish the set of exact analytical solutions to fully explain all our major experimental and numerical findings. Asymmetric boundary conditions arise naturally in diverse situations when a thin object is in contact with a solid surface at one end. The introduction of asymmetry through boundary conditions yields new insight into complex and programmable functionalities in material and industrial design.

Biomimetic self-cleaning surfaces: synthesis, mechanism and applications

With millions of years of natural evolution, organisms have achieved sophisticated structures, patterns or textures with complex, spontaneous multifunctionality. Among all the fascinating characteristics observed in biosystems, self-cleaning ability is regarded as one of the most interesting topics in biomimicry because of its potential applications in various fields such as aerospace, energy conversion and biomedical and environmental protection. Recently, in-depth studies have been carried out on various compelling biostructures including lotus leaves, shark skins, butterfly wings and gecko feet. To understand and mimic their self-cleaning mechanisms in artificial structures, in this article, recent progress in self-cleaning techniques is discussed and summarized. Based on the underlying self-cleaning mechanisms, the methods are classified into two categories: self-cleaning with water and without water. The review gives a succinct account of the detailed mechanisms and biomimetic processes applied to create artificial self-cleaning materials and surfaces, and provides some examples of cutting-edge applications such as anti-reflection, water repellence, self-healing, anti-fogging and micro-manipulators. The prospectives and directions of future development are also briefly proposed.

Slip Morphology of Elastic Strips on Frictional Rigid Substrates

The morphology of an elastic strip subject to vertical compressive stress on a frictional rigid substrate is investigated by a combination of theory and experiment. We find a rich variety of morphologies, which-when the bending elasticity dominates over the effect of gravity-are classified into three distinct types of states: pinned, partially slipped, and completely slipped, depending on the magnitude of the vertical strain and the coefficient of static friction. We develop a theory of elastica under mixed clamped-hinged boundary conditions combined with the Coulomb-Amontons friction law and find excellent quantitative agreement with simulations and controlled physical experiments. We also discuss the effect of gravity in order to bridge the difference in the qualitative behaviors of stiff strips and flexible strings or ropes. Our study thus complements recent work on elastic rope coiling and takes a significant step towards establishing a unified understanding of how a thin elastic object interacts vertically with a solid surface.

Discretely Supported Dry Adhesive Film Inspired by Biological Bending Behavior for Enhanced Performance on a Rough Surface

Biologically inspired dry adhesion has recently become a research hot topic because of its practical significance in scientific research and instrumental technology. Yet, most of the current studies merely focus on borrowing the concept from some finer biological contact elements but lose sight of the foundation ones that play an equally important role in the adhesion functionality. Inspired by the bending behavior of the flexible foundation element of a gecko (lamellar skin) in attachment motion, in this study, a new type of dry adhesive structure was proposed, wherein a mushroom-shaped micropillar array behaving as a strongly adhesive layer was engineered on a discretely supported thin film. We experimentally observed and analytically modeled the structural deformation and found that the energy penalty could be largely reduced because of the partial shift from pillar bending to film bending. Such behavior is very analogous in functionality to the lamellar skin in a gecko's pads and is helpful in effectively limiting the damage of the contact interface, thus generating enhanced adhesion even on a rough surface.

Geckos decouple fore- and hind limb kinematics in response to changes in incline

BACKGROUND

Terrestrial animals regularly move up and down surfaces in their natural habitat, and the impacts of moving uphill on locomotion are commonly examined. However, if an animal goes up, it must go down. Many morphological features enhance locomotion on inclined surfaces, including adhesive systems among geckos. Despite this, it is not known whether the employment of the adhesive system results in altered locomotor kinematics due to the stereotyped motions that are necessary to engage and disengage the system. Using a generalist pad-bearing gecko, Chondrodactylus bibronii, we determined whether changes in slope impact body and limb kinematics.

RESULTS

Despite the change in demand, geckos did not change speed on any incline. This constant speed was achieved by adjusting stride frequency, step length and swing time. Hind limb, but not forelimb, kinematics were altered on steep downhill conditions, thus resulting in significant de-coupling of the limbs.

CONCLUSIONS

Unlike other animals on non-level conditions, the geckos in our study only minimally alter the movements of distal limb elements, which is likely due to the constraints associated with the need for rapid attachment and detachment of the adhesive system. This suggests that geckos may experience a trade-off between successful adhesion and the ability to respond dynamically to locomotor perturbations.

Mechanical analyses on the digital behaviour of the Tokay gecko (Gekko gecko) based on a multi-level directional adhesion model

This paper proposes a multi-level hierarchical model for the Tokay gecko (Gekko gecko) adhesive system and analyses the digital behaviour of the G. gecko under macro/meso-level scale. The model describes the structures of G. gecko's adhesive system from the nano-level spatulae to the sub-millimetre-level lamella. The G. gecko's seta is modelled using inextensible fibril based on Euler's elastica theorem. Considering the side contact of the spatular pads of the seta on the flat and rigid substrate, the directional adhesion behaviour of the seta has been investigated. The lamella-induced attachment and detachment have been modelled to simulate the active digital hyperextension (DH) and the digital gripping (DG) phenomena. The results suggest that a tiny angular displacement within 0.25° of the lamellar proximal end is necessary in which a fast transition from attachment to detachment or vice versa is induced. The active DH helps release the torque to induce setal non-sliding detachment, while the DG helps apply torque to make the setal adhesion stable. The lamella plays a key role in saving energy during detachment to adapt to its habitat and provides another adhesive function which differs from the friction-dependent setal adhesion system controlled by the dynamic of G. gecko's body.

Gecko-inspired but chemically switched friction and adhesion on nanofibrillar surfaces

Chemically switched friction nano-fibrillar surfaces (SiNWAs-PSPMA & SiNWAs-PMAA arrays) can be constructed by finely decorating ordered Si nanowire arrays with responsive polymer brushes. As expected, these surfaces sense humidity or pH smartly and show reversible friction switching, based on swelling and shrinking of the polymer brushes, which is successfully monitored by AFM in liquid media.

Biomechanics of gecko locomotion: the patterns of reaction forces on inverted, vertical and horizontal substrates

The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists' attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment.

Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor

The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems.

The optimal shape of elastomer mushroom-like fibers for high and robust adhesion

Over the last decade, significant effort has been put into mimicking the ability of the gecko lizard to strongly and reversibly cling to surfaces, by using synthetic structures. Among these structures, mushroom-like elastomer fiber arrays have demonstrated promising performance on smooth surfaces matching the adhesive strengths obtained with the natural gecko foot-pads. It is possible to improve the already impressive adhesive performance of mushroom-like fibers provided that the underlying adhesion mechanism is understood. Here, the adhesion mechanism of bio-inspired mushroom-like fibers is investigated by implementing the Dugdale-Barenblatt cohesive zone model into finite elements simulations. It is found that the magnitude of pull-off stress depends on the edge angle θ and the ratio of the tip radius to the stalk radius β of the mushroom-like fiber. Pull-off stress is also found to depend on a dimensionless parameter χ, the ratio of the fiber radius to a length-scale related to the dominance of adhesive stress. As an estimate, the optimal parameters are found to be β = 1.1 and θ = 45°. Further, the location of crack initiation is found to depend on χ for given β and θ. An analytical model for pull-off stress, which depends on the location of crack initiation as well as on θ and β, is proposed and found to agree with the simulation results. Results obtained in this work provide a geometrical guideline for designing robust bio-inspired dry fibrillar adhesives.

Simulation of synthetic gecko arrays shearing on rough surfaces

To better understand the role of surface roughness and tip geometry in the adhesion of gecko synthetic adhesives, a model is developed that attempts to uncover the relationship between surface feature size and the adhesive terminal feature shape. This model is the first to predict the adhesive behaviour of a plurality of hairs acting in shear on simulated rough surfaces using analytically derived contact models. The models showed that the nanoscale geometry of the tip shape alters the macroscale adhesion of the array of fibres by nearly an order of magnitude, and that on sinusoidal surfaces with amplitudes much larger than the nanoscale features, spatula-shaped features can increase adhesive forces by 2.5 times on smooth surfaces and 10 times on rough surfaces. Interestingly, the summation of the fibres acting in concert shows behaviour much more complex that what could be predicted with the pull-off model of a single fibre. Both the Johnson-Kendall-Roberts and Kendall peel models can explain the experimentally observed frictional adhesion effect previously described in the literature. Similar to experimental results recently reported on the macroscale features of the gecko adhesive system, adhesion drops dramatically when surface roughness exceeds the size and spacing of the adhesive fibrillar features.

Gecko toe and lamellar shear adhesion on macroscopic, engineered rough surfaces

The role in adhesion of the toes and lamellae - intermediate sized structures - found on the gecko foot remains unclear. Insight into the function of these structures can lead to a more general understanding of the hierarchical nature of the gecko adhesive system, but in particular how environmental topology may relate to gecko foot morphology. We sought to discern the mechanics of the toes and lamellae by examining gecko adhesion on controlled, macroscopically rough surfaces. We used live Tokay geckos, Gekko gecko, to observe the maximum shear force a gecko foot can attain on an engineered substrate constructed with sinusoidal patterns of varying amplitudes and wavelengths in sizes similar to the dimensions of the toes and lamellae structures (0.5 to 6 mm). We found shear adhesion was significantly decreased on surfaces that had amplitudes and wavelengths approaching the lamella length and inter-lamella spacing, losing 95% of shear adhesion over the range tested. We discovered that the toes are capable of adhering to surfaces with amplitudes much larger than their dimensions even without engaging claws, maintaining 60% of shear adhesion on surfaces with amplitudes of 3 mm. Gecko adhesion can be predicted by the ratio of the lamella dimensions to surface feature dimensions. In addition to setae, remarkable macroscopic-scale features of gecko toes and lamellae that include compliance and passive conformation are necessary to maintain contact, and consequently, generate shear adhesion on macroscopically rough surfaces. Findings on the larger scale structures in the hierarchy of gecko foot function could provide the biological inspiration to drive the design of more effective and versatile synthetic fibrillar adhesives.

Strong adhesion and friction coupling in hierarchical carbon nanotube arrays for dry adhesive applications

The adhesion and friction coupling of hierarchical carbon nanotube arrays was investigated with a hierarchical multiscale modeling approach. At device level, vertically aligned carbon nanotube (VA-CNT) arrays with laterally distributed segments on top were analyzed via finite element methods to determine the macroscopic adhesion and friction force coupling. At the nanoscale, molecular dynamics simulation was performed to explore the origin of the adhesion enhancement due to the existence of the laterally distributed CNTs. The results show interfacial adhesion force is drastically promoted by interfacial friction force when a single lateral CNT is being peeled from an amorphous carbon substrate. By fitting with experiments, we find that under shearing loadings the maximum interfacial adhesion force is increased by a factor of ~5, compared to that under normal loadings. Pre-existing surface asperities of the substrate have proven to be the source of generating large interfacial friction, which in turn results in an enhanced adhesion. The critical peeling angles derived from the continuum and nano- levels are comparable to those of geckos and other synthetic adhesives. Our analysis indicates that the adhesion enhancement factor of the hierarchically structured VA-CNT arrays could be further increased by uniformly orienting the laterally distributed CNTs on top. Most importantly, a significant buckling of the lateral CNT at peeling front is captured on the molecular level, which provides a basis for the fundamental understanding of local deformation, and failure mechanisms of nanofibrillar structures. This work gives an insight into the durability issues that prevent the success of artificial dry adhesives.

Sliding-induced non-uniform pre-tension governs robust and reversible adhesion: a revisit of adhesion mechanisms of geckos

Several mechanisms have been proposed in the literature to explain the robust attachment and rapid, controllable detachment of geckos' feet on vertical walls or ceilings, yet, it is still debatable, which one is ultimately responsible for geckos' extraordinary capabilities for robust and reversible adhesion. In this paper, we re-examine some of the key movements of geckos' spatula pads and seta hairs during attachment and detachment, and propose a sequence of simple mechanical steps that would lead to the extraordinary properties of geckos observed in experiments. The central subject under study here is a linear distribution of pre-tension along the spatula pad induced by its sliding motion with respect to a surface. The resulting pre-tension, together with a control of setae's pulling force and angle, not only allows for robust and strong attachment, but also enables rapid and controllable detachment. We perform computational modelling and simulations to validate the following key steps of geckos' adhesion: (i) creation of a linear distribution of pre-tension in spatula through sliding, (ii) operation of an instability envelope controlled by setae's pulling force and angle, (iii) triggering of an adhesion instability leading to partial decohesion along the interface, and (iv) complete detachment of spatula through post-instability peeling. The present work not only reveals novel insights into the adhesion mechanism of geckos, but also develops a powerful numerical simulation approach as well as additional guidelines for bioinspired materials and devices.

Orientation angle and the adhesion of single gecko setae

We investigated the effects of orientation angle on the adhesion of single gecko setae using dual-axis microelectromechanical systems force sensors to simultaneously detect normal and shear force components. Adhesion was highly sensitive to the pitch angle between the substrate and the seta's stalk. Maximum lateral adhesive force was observed with the stalk parallel to the substrate, and adhesion decreased smoothly with increasing pitch. The roll orientation angle only needed to be roughly correct with the spatular tuft of the seta oriented grossly towards the substrate for high adhesion. Also, detailed measurements were made to control for the effect of normal preload forces. Higher normal preload forces caused modest enhancement of the observed lateral adhesive force, provided that adequate contact was made between the seta and the substrate. These results should be useful in the design and manufacture of gecko-inspired synthetic adhesives with anisotropic properties, an area of substantial recent research efforts.

Adhesion mechanics of ivy nanoparticles

Adhesion mechanism of ivy has been of major research interest for its potential applications in high-strength materials. Recent experimental studies demonstrated that nanoparticles secreted from ivy tendrils play an important role in adhesion. In this work, we investigate how various factors such as van der Waals interaction, capillarity, and molecular cross-linking influence the adhesion mechanics of ivy nanoparticles. This paper provides guidelines in choosing different adhesive contact models. Understanding the mechanics of ivy adhesion could potentially inspire the design and fabrication of novel nano-bio-materials.

Rate-dependent frictional adhesion in natural and synthetic gecko setae

Geckos owe their remarkable stickiness to millions of dry, hard setae on their toes. In this study, we discovered that gecko setae stick more strongly the faster they slide, and do not wear out after 30,000 cycles. This is surprising because friction between dry, hard, macroscopic materials typically decreases at the onset of sliding, and as velocity increases, friction continues to decrease because of a reduction in the number of interfacial contacts, due in part to wear. Gecko setae did not exhibit the decrease in adhesion or friction characteristic of a transition from static to kinetic contact mechanics. Instead, friction and adhesion forces increased at the onset of sliding and continued to increase with shear speed from 500 nm s(-1) to 158 mm s(-1). To explain how apparently fluid-like, wear-free dynamic friction and adhesion occur macroscopically in a dry, hard solid, we proposed a model based on a population of nanoscopic stick-slip events. In the model, contact elements are either in static contact or in the process of slipping to a new static contact. If stick-slip events are uncorrelated, the model further predicted that contact forces should increase to a critical velocity (V*) and then decrease at velocities greater than V*. We hypothesized that, like natural gecko setae, but unlike any conventional adhesive, gecko-like synthetic adhesives (GSAs) could adhere while sliding. To test the generality of our results and the validity of our model, we fabricated a GSA using a hard silicone polymer. While sliding, the GSA exhibited steady-state adhesion and velocity dependence similar to that of gecko setae. Observations at the interface indicated that macroscopically smooth sliding of the GSA emerged from randomly occurring stick-slip events in the population of flexible fibrils, confirming our model predictions.

Adhesion transition of flexible sheets

Intermolecular forces are known to precipitate adhesion events between solid bodies. Inspired by a macroscale experiment showing the hysteretic adhesion of a piece of flexible tape over a plastic substrate, we develop here a model of far-field dry adhesion between two flexible sheets interacting via a power-law potential. We show that phase transitions from unadhered to adhered states occur as dictated by a dimensionless bending parameter representing the ratio of interaction strength to bending stiffness. The order of the adhesion transitions, as well as their hysteretic nature, is shown to depend on the form of the interaction potential between the flexible sheets. When three or more sheets interact, additional geometrical considerations determine the hierarchical or sequential nature of the adhesion transitions.

Geometry- and velocity-constrained cohesive zones and mixed-mode fracture/adhesion energy of interfaces with periodic cohesive interactions

We show that the mixed-mode fracture/adhesion energy of an interface with periodically varying cohesive interactions generally depends on the size of the cohesive zone near the tip of a crack along the interface: it is equal to the average cohesive energy of the interface, if the cohesive zone size is much larger than the period of cohesive interaction but becomes the peak value of the local cohesive energy when the opposite is true. It is also interesting that the cohesive zone size can be strongly influenced by the geometry and velocity of the crack. As an example of geometry-constrained cohesive zone, we consider peeling of a thin film on substrate and show that the cohesive zone size under 90° peeling scales with the bending stiffness of the film, while that under 0° peeling scales with the tension stiffness of the film. As an example of a velocity-constrained cohesive zone, we consider crack propagation along an interfacial layer of weak molecular bonds joining two elastic media and show that the cohesive zone size can be altered by an order of magnitude over feasible regimes of crack velocity. These results suggest possible strategies to control fracture/adhesion strength of interfaces in both engineering and biological systems.

Pre-tension generates strongly reversible adhesion of a spatula pad on substrate

Motivated by recent studies on reversible adhesion mechanisms of geckos and insects, we investigate the effect of pre-tension on the orientation-dependent adhesion strength of an elastic tape adhering on a substrate. Our analysis shows that the pre-tension can significantly increase the peel-off force at small peeling angles while decreasing it at large peeling angles, leading to a strongly reversible adhesion. More interestingly, we find that there exists a critical value of pre-tension beyond which the peel-off force plunges to zero at a force-independent critical peeling angle. We further show that the level of pre-tension required for such force-independent detachment at a critical angle can be induced by simply dragging a spatula pad along a substrate at sufficiently low angles. These results provide a feasible explanation of relevant experimental observations on gecko adhesion and suggest possible strategies to design strongly reversible adhesives via pre-tension.