When the going gets rough - studying the effect of surface roughness on the adhesive abilities of tree frogs

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

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

Orchids reduce attachment of herbivorous snails with leaf trichomes

Protective structures in the epidermis are essential for land plants to defend themselves against herbivores. In this study, we investigated the effect of different types of trichomes of three orchids, Calanthe triplicata, Dendrochilum pallidiflavens and Trichotosia ferox, on attachment of herbivorous land snails, using histochemistry and centrifuge experiments. Size, ornamentation and histochemistry of epicuticular trichomes on the orchid leaves were assessed with light microscopy, scanning electron microscopy and transmission electron microscopy. Total forces needed to detach two differently shaped snail species, Subulina octona and Pleurodonte isabella, were measured using a turntable equipped with a synchronized strobe. Snails were placed in two positions, either perpendicular or parallel to the main veins on the orchid leaves, both on the adaxial (= upper) or abaxial (= lower) side. The results obtained provided three new insights. First, a perpendicular or parallel position of the snails to the main veins did not significantly affect the attachment performance of either species tested. Secondly, snails detached significantly easier on leaf sides covered with a high density of lignin filled epicuticular trichomes. Thirdly, the removal of glandular trichomes did not affect the attachment forces; however, the absence of lignified trichomes increased the attachment of the snails. Our study highlights the importance of studying micro-ornamentation in combination with performance for obtaining a better understanding of the defense mechanisms employed by different species of orchids to deter herbivorous snails.

The bumpy road ahead: the role of substrate roughness on animal walking and a proposed comparative metric

Outside laboratory conditions and human-made structures, animals rarely encounter flat surfaces. Instead, natural substrates are uneven surfaces with height variation that ranges from the microscopic scale to the macroscopic scale. For walking animals (which we define as encompassing any form of legged movement across the ground, such as walking, running, galloping, etc.), such substrate 'roughness' influences locomotion in a multitude of ways across scales, from roughness that influences how each toe or foot contacts the ground, to larger obstacles that animals must move over or navigate around. Historically, the unpredictability and variability of natural environments has limited the ability to collect data on animal walking biomechanics. However, recent technical advances, such as more sensitive and portable cameras, biologgers, laboratory tools to fabricate rough terrain, as well as the ability to efficiently store and analyze large variable datasets, have expanded the opportunity to study how animals move under naturalistic conditions. As more researchers endeavor to assess walking over rough terrain, we lack a consistent approach to quantifying roughness and contextualizing these findings. This Review summarizes existing literature that examines non-human animals walking on rough terrain and presents a metric for characterizing the relative substrate roughness compared with animal size. This framework can be applied across terrain and body scales, facilitating direct comparisons of walking over rough surfaces in animals ranging in size from ants to elephants.

Omics-based molecular analyses of adhesion by aquatic invertebrates

Many aquatic invertebrates are associated with surfaces, using adhesives to attach to the substratum for locomotion, prey capture, reproduction, building or defence. Their intriguing and sophisticated biological glues have been the focus of study for decades. In all but a couple of specific taxa, however, the precise mechanisms by which the bioadhesives stick to surfaces underwater and (in many cases) harden have proved to be elusive. Since the bulk components are known to be based on proteins in most organisms, the opportunities provided by advancing 'omics technologies have revolutionised bioadhesion research. Time-consuming isolation and analysis of single molecules has been either replaced or augmented by the generation of massive data sets that describe the organism's translated genes and proteins. While these new approaches have provided resources and opportunities that have enabled physiological insights and taxonomic comparisons that were not previously possible, they do not provide the complete picture and continued multi-disciplinarity is essential. This review covers the various ways in which 'omics have contributed to our understanding of adhesion by aquatic invertebrates, with new data to illustrate key points. The associated challenges are highlighted and priorities are suggested for future research.

Physical mechanisms behind the wet adhesion: From amphibian toe-pad to biomimetics

Some amphibians, such as tree frogs, torrent frogs, newts, are able to climb or attach to wet slippery smooth surfaces, even in a vertical or overhanging state, by their reliable reversible adhesions developed on the epidermal of toe pads. It is widely believed that such outstanding function originates from the possible factors of the specialized evolutions of surficial micro/nanostructures, the chemical components of secreted mucus, the solid-liquid behavior of epidermal and the bulk softness of toe pads. In this review, we summarize the main physical mechanisms of these factors behaving underlying the wet adhesion of toe pads from the researches on biological models to artificial counterparts. The discussion of the organism attachments, the interfacial physical forces and the switchable strategies for artificial wet adhesion are also included. The paper gives a deeply, comprehensively understanding of the characters of wet adhesives on amphibians, which performs necessarily for the new strategies of exploring artificial adhesive surfaces.

Geckos cling best to, and prefer to use, rough surfaces

BACKGROUND

Fitness is strongly related to locomotor performance, which can determine success in foraging, mating, and other critical activities. Locomotor performance on different substrates is likely to require different abilities, so we expect alignment between species' locomotor performance and the habitats they use in nature. In addition, we expect behaviour to enhance performance, such that animals will use substrates on which they perform well.

METHODS

We examined the associations between habitat selection and performance in three species of Oedura geckos, including two specialists, (one arboreal, and one saxicolous), and one generalist species, which used both rocks and trees. First, we described their microhabitat use in nature (tree and rock type) for these species, examined the surface roughnesses they encountered, and selected materials with comparable surface microtopographies (roughness measured as peak-to-valley heights) to use as substrates in lab experiments quantifying behavioural substrate preferences and clinging performance.

RESULTS

The three Oedura species occupied different ecological niches and used different microhabitats in nature, and the two specialist species used a narrower range of surface roughnesses compared to the generalist. In the lab, Oedura geckos preferred substrates (coarse sandpaper) with roughness characteristics similar to substrates they use in nature. Further, all three species exhibited greater clinging performance on preferred (coarse sandpaper) substrates, although the generalist used fine substrates in nature and had good performance capabilities on fine substrates as well.

CONCLUSION

We found a relationship between habitat use and performance, such that geckos selected microhabitats on which their performance was high. In addition, our findings highlight the extensive variation in surface roughnesses that occur in nature, both among and within microhabitats.

The Effects of Roughness and Wetness on Salamander Cling Performance

Animals clinging to natural surfaces have to generate attachment across a range of surface roughnesses in both dry and wet conditions. Plethodontid salamanders can be aquatic, semi-aquatic, terrestrial, arboreal, troglodytic, saxicolous, and fossorial and therefore may need to climb on and over rocks, tree trunks, plant leaves, and stems, as well as move through soil and water. Sixteen species of salamanders were tested to determine the effects of substrate roughness and wetness on maximum cling angle. Substrate roughness had a significant effect on maximum cling angle, an effect that varied among species. Substrates of intermediate roughness (asperity size 100-350 µm) resulted in the poorest attachment performance for all species. Small species performed best on smooth substrates, while large species showed significant improvement on the roughest substrates (asperity size 1000-4000 µm), possibly switching from mucus adhesion on a smooth substrate to an interlocking attachment on rough substrates. Water, in the form of a misted substrate coating and a flowing stream, decreased cling performance in salamanders on smooth substrates. However, small salamanders significantly increased maximum cling angle on wetted substrates of intermediate roughness, compared with the dry condition. Study of cling performance and its relationship to surface properties may cast light onto how this group of salamanders has radiated into the most speciose family of salamanders that occupies diverse habitats across an enormous geographical range.

Design of Tree-Frog-Inspired Adhesives

The adhesive toe pads of tree frogs have inspired the design of various so-called ‘smooth’ synthetic adhesives for wet environments. However, these adhesives do not reach the attachment performance of their biological models in terms of contact formation, maintenance of attachment, and detachment. In tree frogs, attachment is facilitated by an interconnected ensemble of superficial and internal morphological components, which together form a functional unit. To help bridging the gap between biological and bioinspired adhesives, in this review, we (1) provide an overview of the functional components of tree frog toe pads, (2) investigate which of these components (and attachment mechanisms implemented therein) have already been transferred into synthetic adhesives, and (3) highlight functional analogies between existing synthetic adhesives and tree frogs regarding the fundamental mechanisms of attachment. We found that most existing tree-frog-inspired adhesives mimic the micropatterned surface of the ventral epidermis of frog pads. Geometrical and material properties differ between these synthetic adhesives and their biological model, which indicates similarity in appearance rather than function. Important internal functional components such as fiber-reinforcement and muscle fibers for attachment control have not been considered in the design of tree-frog-inspired adhesives. Experimental work on tree-frog-inspired adhesives suggests that the micropatterning of adhesives with low-aspect-ratio pillars enables crack arresting and the drainage of interstitial liquids, which both facilitate the generation of van der Waals forces. Our analysis of experimental work on tree-frog-inspired adhesives indicates that interstitial liquids such as the mucus secreted by tree frogs play a role in detachment. Based on these findings, we provide suggestions for the future design of biomimetic adhesives. Specifically, we propose to implement internal fiber-reinforcements inspired by the fibrous structures in frog pads to create mechanically reinforced soft adhesives for high-load applications. Contractile components may stimulate the design of actuated synthetic adhesives with fine-tunable control of attachment strength. An integrative approach is needed for the design of tree-frog-inspired adhesives that are functionally analogous with their biological paradigm.

Capillary-driven indentation of a microparticle into a soft, oil-coated substrate

Small scale contact between a soft, liquid-coated layer and a stiff surface is common in many situations, from synovial fluid on articular cartilage to adhesives in humid environments. Moreover, many model studies on soft adhesive contacts are conducted with soft silicone elastomers, which possess uncrosslinked liquid molecules (i.e. silicone oil) when the modulus is low. We investigate how the thickness of a silicone oil layer on a soft substrate relates to the indentation depth of glass microspheres in contact with crosslinked PDMS, which have a modulus of <10 kPa. The particles indent into the underlying substrate more as a function of decreasing oil layer thickness. This is due to the presence of the liquid layer at the surface that causes capillary forces to pull down on the particle. A simple model that balances the capillary force of the oil layer and the minimal particle-substrate adhesion with the elastic and surface tension forces from the substrate is proposed to predict the particle indentation depth.

Tree frog adhesion biomimetics: opportunities for the development of new, smart adhesives that adhere under wet conditions

Enlarged adhesive toe pads on the tip of each digit allow tree frogs to climb smooth vertical and overhanging surfaces, and are effective in generating reversible adhesion under both dry and wet conditions. In this review, we discuss the complexities of the structure of tree frog toe pads in relation to their function and review their biomimetic potential. Of particular importance are the (largely) hexagonal epithelial cells surrounded by deep channels that cover the surface of each toe pad and the array of nanopillars on their surface. Fluid secreted by the pads covers the surface of each pad, so the pads adhere by wet adhesion, involving both capillarity and viscosity-dependent forces. The fabrication and testing of toe pad mimics are challenging, but valuable both for testing hypotheses concerning tree frog toe pad function and for developing toe pad mimics. Initial mimics involved the fabrication of hexagonal pillars mimicking the toe pad epithelial structure. More recent ones additionally replicate the nanostructures on their surface. Finally we describe some of the biomimetic applications that have been developed from toe pad mimics, which include both bioinspired adhesives and friction-generating devices. This article is part of the theme issue 'Bioinspired materials and surfaces for green science and technology (part 2)'.

A force-measuring and behaviour-recording system consisting of 24 individual 3D force plates for the study of single limb forces in climbing animals on a quasi-cylindrical tower

This study describes the design of a new force measuring array with a quasi-cylindrical surface for measuring the 3D ground reaction forces of animals climbing on a surface with high curvature. This force-measuring array was assembled from 24 individual 3D force sensors, each with a resolution at the millinewton (mN) level, which were installed from top to bottom in four columns and six rows, with sensors in neighbouring columns staggered in height. Three cameras were used to simultaneously record the climbing behaviours of animals (in these experiments tree frogs) on the cylinder-like force measuring array. We were thus able to simultaneously record the ground reaction forces of each of the four limbs of tree frogs (here six individuals of the Chinese gliding or flying frog, Rhacophorus dennysi, with forelimb spans in the range 163-201 mm) climbing or descending both smooth and rough surfaces on a quasi-cylindrical structure with an overall diameter of 79 mm. We describe the design and calibration of the individual force sensors, their installation and arrangement on the quasi-cylindrical climbing tower, the recording of ground reaction forces and climbing behaviour, data transformations necessitated by the angular relationship of neighbouring sensors, and data processing using MATLAB scripts. Additionally, we present preliminary data on the use of a clamping grip by climbing frogs and the existence of small pull-off forces that aid toe-pad detachment at the end of each locomotor stance phase.

Estimating the maximum attachment performance of tree frogs on rough substrates

Tree frogs can attach to smooth and rough substrates using their adhesive toe pads. We present the results of an experimental investigation of tree frog attachment to rough substrates, and of the role of mechanical interlocking between superficial toe pad structures and substrate asperities in the tree frog species Litoria caerulea and Hyla cinerea. Using a rotation platform setup, we quantified the adhesive and frictional attachment performance of whole frogs clinging to smooth, micro-, and macrorough substrates. The transparent substrates enabled quantification of the instantaneous contact area during detachment by using frustrated total internal reflection. A linear mixed-effects model shows that the adhesive performance of the pads does not differ significantly with roughness (for nominal roughness levels of 0-15 µm) in both species. This indicates that mechanical interlocking does not contribute to the attachment of whole animals. Our results show that the adhesion performance of tree frogs is higher than reported previously, emphasising the biomimetic potential of tree frog attachment. Overall, our findings contribute to a better understanding of the complex interplay of attachment mechanisms in the toe pads of tree frogs, which may promote future designs of tree-frog-inspired adhesives.

Tree frog attachment: mechanisms, challenges, and perspectives

Tree frogs have the remarkable ability to attach to smooth, rough, dry, and wet surfaces using their versatile toe pads. Tree frog attachment involves the secretion of mucus into the pad-substrate gap, requiring adaptations towards mucus drainage and pad lubrication. Here, we present an overview of tree frog attachment, with focus on (i) the morphology and material of the toe pad; (ii) the functional demands on the toe pad arising from ecology, lifestyle, and phylogenetics; (iii) experimental data of attachment performance such as adhesion and friction forces; and (iv) potential perspectives on future developments in the field. By revisiting reported data and observations, we discuss the involved mechanisms of attachment and propose new hypotheses for further research. Among others, we address the following questions: Do capillary and hydrodynamic forces explain the strong friction of the toe pads directly, or indirectly by promoting dry attachment mechanisms? If friction primarily relies on van der Waals (vdW) forces instead, how much do these forces contribute to adhesion in the wet environment tree frogs live in and what role does the mucus play? We show that both pad morphology and measured attachment performance suggest the coaction of several attachment mechanisms (e.g. capillary and hydrodynamic adhesion, mechanical interlocking, and vdW forces) with situation-dependent relative importance. Current analytical models of capillary and hydrodynamic adhesion, caused by the secreted mucus and by environmental liquids, do not capture the contributions of these mechanisms in a comprehensive and accurate way. We argue that the soft pad material and a hierarchical surface pattern on the ventral pad surface enhance the effective contact area and facilitate gap-closure by macro- to nanoscopic drainage of interstitial liquids, which may give rise to a significant contribution of vdW interactions to tree frog attachment. Increasing the comprehension of the complex mechanism of tree frog attachment contributes to a better understanding of other biological attachment systems (e.g. in geckos and insects) and is expected to stimulate the development of a wide array of bioinspired adhesive applications.

Force-transmitting structures in the digital pads of the tree frog Hyla cinerea: a functional interpretation

The morphology of the digital pads of tree frogs is adapted towards attachment, allowing these animals to attach to various substrates and to explore their arboreal habitat. Previous descriptions and functional interpretations of the pad morphology mostly focussed on the surface of the ventral epidermis, and little is known about the internal pad morphology and its functional relevance in attachment. In this study, we combine histology and synchrotron micro‐computer‐tomography to obtain a comprehensive 3‐D morphological characterisation of the digital pads (in particular of the internal structures involved in the transmission of attachment forces from the ventral pad surface towards the phalanges) of the tree frog Hyla cinerea. A collagenous septum runs from the distal tip of the distal phalanx to the ventral cutis and compartmentalises the subcutaneous pad volume into a distal lymph space and a proximal space, which contains mucus glands opening via long ducts to the ventral pad surface. A collagen layer connects the ventral basement membrane via interphalangeal ligaments with the middle phalanx. The collagen fibres forming this layer curve around the transverse pad‐axis and form laterally separated ridges below the gland space. The topological optimisation of a shear‐loaded pad model using finite element analysis (FEA) shows that the curved collagen fibres are oriented along the trajectories of the maximum principal stresses, and the optimisation also results in ridge‐formation, suggesting that the collagen layer is adapted towards a high stiffness during shear loading. We also show that the collagen layer is strong, with an estimated tensile strength of 2.0–6.5 N. Together with longitudinally skewed tonofibrils in the superficial epidermis, these features support our hypothesis that the digital pads of tree frogs are primarily adapted towards the generation and transmission of friction rather than adhesion forces. Moreover, we generate (based on a simplified FEA model and predictions from analytical models) the hypothesis that dorsodistal pulling on the collagen septum facilitates proximal peeling of the pad and that the septum is an adaptation towards detachment rather than attachment. Lastly, by using immunohistochemistry, we (re‐)discovered bundles of smooth muscle fibres in the digital pads of tree frogs. We hypothesise that these fibres allow the control of (i) contact stresses at the pad–substrate interface and peeling, (ii) mucus secretion, (iii) shock‐absorbing properties of the pad, and (iv) the macroscopic contact geometry of the ventral pad surface. Further work is needed to conclude on the role of the muscular structures in tree frog attachment. Overall, our study contributes to the functional understanding of tree frog attachment, hence offering novel perspectives on the ecology, phylogeny and evolution of anurans, as well as the design of tree‐frog‐inspired adhesives for technological applications.

It's Not a Bug, It's a Feature: Functional Materials in Insects

Over the course of their wildly successful proliferation across the earth, the insects as a taxon have evolved enviable adaptations to their diverse habitats, which include adhesives, locomotor systems, hydrophobic surfaces, and sensors and actuators that transduce mechanical, acoustic, optical, thermal, and chemical signals. Insect-inspired designs currently appear in a range of contexts, including antireflective coatings, optical displays, and computing algorithms. However, as over one million distinct and highly specialized species of insects have colonized nearly all habitable regions on the planet, they still provide a largely untapped pool of unique problem-solving strategies. With the intent of providing materials scientists and engineers with a muse for the next generation of bioinspired materials, here, a selection of some of the most spectacular adaptations that insects have evolved is assembled and organized by function. The insects presented display dazzling optical properties as a result of natural photonic crystals, precise hierarchical patterns that span length scales from nanometers to millimeters, and formidable defense mechanisms that deploy an arsenal of chemical weaponry. Successful mimicry of these adaptations may facilitate technological solutions to as wide a range of problems as they solve in the insects that originated them.

The biomechanics of tree frogs climbing curved surfaces: a gripping problem

The adhesive mechanisms of climbing animals have become an important research topic because of their biomimetic implications. We examined the climbing abilities of hylid tree frogs on vertical cylinders of differing diameter and surface roughness to investigate the relative roles of adduction forces (gripping) and adhesion. Tree frogs adhere using their toe pads and subarticular tubercles, the adhesive joint being fluid-filled. Our hypothesis was that on an effectively flat surface (adduction forces on the largest 120 mm diameter cylinder were insufficient to allow climbing), adhesion would effectively be the only means by which tree frogs could climb, but on the 44 and 13 mm diameter cylinders, frogs could additionally utilise adduction forces by gripping the cylinder either with their limbs outstretched or by grasping around the cylinder with their digits, respectively. The frogs' performance would also depend on whether the surfaces were smooth (easy to adhere to) or rough (relatively non-adhesive). Our findings showed that climbing performance was highest on the narrowest smooth cylinder. Frogs climbed faster, frequently using a 'walking trot' gait rather than the 'lateral sequence walk' used on other cylinders. Using an optical technique to visualise substrate contact during climbing on smooth surfaces, we also observed an increasing engagement of the subarticular tubercles on the narrower cylinders. Finally, on the rough substrate, frogs were unable to climb the largest diameter cylinder, but were able to climb the narrowest one slowly. These results support our hypotheses and have relevance for the design of climbing robots.

Effective Elastic Modulus of Structured Adhesives: From Biology to Biomimetics

Micro- and nano-hierarchical structures (lamellae, setae, branches, and spatulae) on the toe pads of many animals play key roles for generating strong but reversible adhesion for locomotion. The hierarchical structure possesses significantly reduced, effective elastic modulus (Eeff), as compared to the inherent elastic modulus (Einh) of the corresponding biological material (and therefore contributes to a better compliance with the counterpart surface). Learning from nature, three types of hierarchical structures (namely self-similar pillar structure, lamella⁻pillar hybrid structure, and porous structure) have been developed and investigated.