The Effects Of Running Orientation on Gecko Locomotor Performance

While many studies have investigated gecko adhesive locomotion, most studies investigate gecko locomotor performance while geckos are traveling upwards on an inclined or vertical substrate. Recent studies have suggested that geckos modulate the position of their hind limbs while descending an angled substrate, and that this modulation, does not appear to affect sprint velocity on substrate declines up to 45°. While there appears to be no performance decrement at relatively shallow substrate angles, it is unclear whether more challenging substrate angles would lead to different results. Given the directionality of the gecko adhesive system, traveling downward on a vertical substrate should be more difficult than traveling upward on the same vertical substrate. To test this, we studied the locomotion of six Gekko gecko sprinting upward or downward on a 2-meter vertical, acrylic racetrack, oriented at both 60° or 90°. A motion capture system was used to record the position of each gecko in 3-dimensional space as a function of time. This time and position data was used to calculate: mean instantaneous velocity, maximum instantaneous velocity, and ratio of time stopped to time moving. We also used a DSLR camera to record each run. The DSLR videos were then analyzed utilizing VLC Media Player and ImageJ. These images were used to calculate the hindfoot and forefoot orientation of the gecko during each treatment. Overall, we found that running orientation had no significant effect on mean instantaneous velocity, mean instantaneous velocity, or forefoot orientation. However, we found that running orientation did have a significant effect on ratio of time moving and hindfoot orientation

Simulations of geckos dry adhesion system

Simulation models were developed to explore the reversible nature of gecko dry adhesion system. The central idea of this model is that even with a small moment imparted on the contact tip, the seta can be easily ad-adhered. It is shown that this contact condition is very sensitive, but can result in robust adhesion if individual seta is canted and highly flexible. In analogy to the "cone of friction", we consider the "area of adhesion" -- the domain of normal and tangential forces that maintain adhesion. Results demonstrate that this adhesion region is highly asymmetric enabling the gecko to adhere under a variety of loading conditions associated with scuttling horizontally, vertically and inverted. Moreover, under each of these conditions there is a low energy path to de-adhesion. In this model obliquely canted seta (as possessed by geckos) rather than vertically aligned fibers (common in synthetic dry adhesive) provide the most robust adhesion

Scaling Reversible Adhesion in Synthetic and Biological Systems

Geckos and other insects have fascinated scientists and casual observers with their ability to effortlessly climb up walls and across ceilings. This capability has inspired high capacity, easy release synthetic adhesives, which have focused on mimicking the fibrillar features found on the foot pads of these climbing organisms. However, without a fundamental framework that connects biological and synthetic adhesives from nanoscopic to macroscopic features, synthetic mimics have failed to perform favorably at large contact areas. In this thesis, we present a scaling approach which leads to an understanding of reversible adhesion in both synthetic and biological systems over multiple length scales. We identify, under various loading scenarios, how geometry and material properties control adhesion, and we apply this understanding to the development of high capacity, easy release synthetic adhesive materials at macroscopic size scales. Starting from basic fracture mechanics, our generalized scaling theory reveals that the ratio of contact area to compliance in the loading direction, A/C, is the governing scaling parameter for the force capacity of reversible adhesive interfaces. This scaling theory is verified experimentally in both synthetic and biological adhesive systems, over many orders of magnitude in size and adhesive force capacity (Chapter 2). This understanding is applied to the development of gecko-like adhesive pads, consisting of stiff, draping fabrics incorporated with thin elastomeric layers, which at macroscopic sizes (contact areas of 100 cm2) exhibit force capacities on the order of 3000 N. Significantly, this adhesive pad is non-patterned and completely smooth, demonstrating that fibrillar features are not necessary to achieve high capacity, easy release adhesion at macroscopic sizes and emphasizing the importance of subsurface anatomy in biological adhesive systems (Chapter 2, Chapter 3). We further extend the utility of the scaling theory under shear (Chapter 4) and normal (Chapter 5) loading conditions and develop simple expressions for patterned and non-patterned interfaces which describe experimental force capacity data as a function of geometric parameters such as contact area, aspect ratio, and contact radius. These studies provide guidance for the precise control of adhesion with enables the development of a simple transfer printing technique controlled by geometric confinement (Chapter 6). Force capacity data from each chapter, along with various literature data are collapsed onto a master plot described by the A/C scaling parameter, with agreement over 15 orders of magnitude in adhesive force capacity for synthetic and biological adhesives, demonstrating the generality and robustness of the scaling theory (Chapter 7)

Influence of packing density and surface roughness of vertically-aligned carbon nanotubes on adhesive properties of gecko-inspired mimetics.

We have systematically studied the macroscopic adhesive properties of vertically aligned nanotube arrays with various packing density and roughness. Using a tensile setup in shear and normal adhesion, we find that there exists a maximum packing density for nanotube arrays to have adhesive properties. Too highly packed tubes do not offer intertube space for tube bending and side-wall contact to surfaces, thus exhibiting no adhesive properties. Likewise, we also show that the surface roughness of the arrays strongly influences the adhesion properties and the reusability of the tubes. Increasing the surface roughness of the array strengthens the adhesion in the normal direction, but weakens it in the shear direction. Altogether, these results allow progress toward mimicking the gecko's vertical mobility.The authors acknowledge funding from the EC project Technotubes.This is the accepted manuscript. The final version is available at http://pubs.acs.org/doi/abs/10.1021/am507822b

Fabrication and Analysis of Bio-Inspired Smart Surfaces

This work introduces novel techniques for the fabrication of bio-inspired hierarchical micro- and nanostructures. The enormous potential of these techniques is demonstrated by presenting a synthetic gecko-like adhesive matching the adhesion and self-cleaning of geckos very closely and a nanofur which is superhydrophobic, superoleophilic, underwater air-retaining, and even self-healing when surface treated

Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

This paper presents the design of a legged robot with gecko-mimicking mechanism and mushroom-shaped adhesive microstructure (MSAMS) that can climb surfaces under reduced gravity. The design principle, adhesion performance and roles of different toes of footpad are explored and discussed in this paper. The effect of the preload velocity, peeling velocity and thickness of backing layering on the reliability of the robot are investigated. Results show that pull-force is independent of preload velocity, while the peeling force is relying on peeling velocity, and the peel strength increased with the increasing thickness of the backing layer. The climbing experiments show that the robot can climb under mimic zero gravity by using multiple toes facilitating adhesion. The robot with new type of footpads also provides a good platform for testing different adhesive materials for the future space applications

Biomimetic Micro/nano-Structured Surfaces: A Potential Tool for Tuning of Adhesion and Friction

Effects of biomimetic micro-patterning of polymeric materials on their interfacial properties were studied experimentally. Micropillars of PDMS and SU-8 epoxy were fabricated through soft lithography and UV lithography techniques, respectively. PDMS pillars were topped by thin terminal films of the same material through dipping method with different thicknesses and viscosities. Adhesion and frictional properties of biomimetic microstructures were examined in two modes of contact, i.e. laid and conformal contact. In the first mode of contact, i.e. laid contact, the contact between adhesive and adherent is laid on top of the micro-protrusions or is in contact with side wall of micropillars. Adhesion properties of the smooth and patterned PDMS were characterized through micro-indentation test. Moreover, the friction properties of the smooth PDMS sample and PDMS micropillars with different aspect ratios were examined in unidirectional friction testing. JKR theory of continuum contact mechanics was utilized to interpret the obtained data. To study the effect of second mode of contact, peeling behaviour of a conformal contact between solidified liquid PDMS and SU-8 micropillars was monitored. Kendall’s model of elastic peeling was used to interpret the peeling data. It was found that patterning of the materials would decrease the real area of contact and accordingly adhesion and friction to the mating surface. Termination of the micropillars with a thin layer of the same material result in increment of adhesion as reduction of the real contact area could be compensated and the compliance of the near surface increases. Elastic energy dissipation as a result of enhanced compliance and crack trapping and crack propagation instabilities are the main reasons behind increment of adhesion of thin film terminated structures. Viscoelasticity of the terminal thin film remarkably increased the adhesion as a result of coupling mentioned mechanisms and viscoelastic loss on the surface. Decline of the overall friction could be tailored through use of different aspect ratios. Higher aspect ratios pillars show higher friction comparing to lower aspect ratio pillars. 550 folds enhancement of adhesion was observed for peeling of the PDMS tape from rigid micropillars with aspect ratio ranging from 0 to 6. It is concluded that for the lower aspect ratio micropillars, the elastic energy dissipation is playing the key role in adhesion enhancement. This role shifts toward side-wall friction during separation by increase in aspect ratio. These all give in hand a versatile tool to control and fine tune the interfacial properties of materials, whether they are concerned with adhesion or friction

Biomechanics of the fibrillar adhesive system in insects

Many animals are able to scale smooth surfaces using adhesive structures on their feet. These organs are either soft pads with a relatively smooth surface or dense arrays of microscopic adhesive hairs with both designs having independently evolved in diverse taxa of arthropods and vertebrates. Biological adhesive pads out-perform conventional adhesives in many respects, making them important models for biomimetics. Hairy pads have attracted particular attention, because it has become feasible to fabricate similar synthetic microstructures. Nevertheless, the detailed performance and functional properties have not been characterised for any natural fibrillar adhesive system, and many fundamental aspects are still not understood. The aim of this thesis was therefore to investigate the fibrillar adhesive system of leaf beetles as a model. To investigate the functional implications of hairy pad design, the attachment performance between hairy pads of the leaf beetle Gastrophysa viridula and smooth pads of stick insects (Carausius morosus) was compared. Adhesive and frictional stresses were found to be similar in smooth and hairy pads, inconsistent with contact splitting theory, which predicts higher adhesive stresses for fibrillar adhesives. Hairy pads showed a greater direction-dependence of friction forces than smooth pads, confirming the importance of the asymmetric design of individual setae for effortless detachment. Experiments with contaminating particles also showed that hairy pads removed contamination more rapidly and efficiently than smooth pads. Self-cleaning ability had not been previously documented for adhesive organs of insects. To investigate to what extent the hairy system is able to compensate for surface roughness, whole-body attachment forces were measured for varying roughness levels. Attachment was reduced for all length scales of surface roughness, but in particular for asperity sizes smaller than the diameter of individual seta tips. Leaf beetles possess adhesive pads on three tarsal segments, which vary in setal morphology. However, the functional implications of this variation are unknown. The mechanical and adhesive properties of individual pads were therefore tested and their use during climbing observed. Proximal pads were shown to be stiffer than distal pads, conferring stability during pushing. In contrast, the softer distal pads allowed better attachment to rough surfaces. Hence the morphological variation is explained by an effective division of labour between the pads. To investigate an extreme example of pushing in a hairy system, pad use was studied during jumping in flea beetles. The pushing forces needed during take-off were exclusively produced by the proximal pads, again confirming the division of labour. To characterise the effects of different hair morphologies and to understand how individual setae contribute to array and whole-animal performance, single hair forces were measured using a glass capillary cantilever. Male-specific discoidal hairs were shown to be both stiffer and more adhesive than pointed and spatula-tipped setae, likely affecting overall pad stability and attachment. This thesis has shown that hairy pads are similar to smooth pads in the magnitude of adhesive stress supported yet outperform them in detachability and self-cleaning. It was also demonstrated that there are considerable differences in design and performance even within setal arrays of the same insect, indicating the limitations of general models of fibrillar adhesion and underlining the importance of specialised adaptations.Funded by research grants from the UK Biotechnology and Biological Sciences Research Council and the Cambridge Isaac Newton Trust

SYNTHETIC GECKO INSPIRED DRY ADHESIVE THROUGH TWO- PHOTON POLYMERIZATION FOR SPACE APPLICATIONS

This work aims to develop an advanced and cost-effective fabrication process to produce a simplified gecko-inspired microstructure with two-photon polymerization and polymer molding, aimed to improve the adhesive properties of microstructures. Such adhesive microstructures can be implemented for multi-purpose adhesive grasping devices, which have recently gained significant interest in the space exploration sector. Previous gecko-inspired microstructures were reviewed, and the new gecko-inspired microstructures have been developed with the adaptation of additive manufacturing methods for facile fabrication. The examined microstructures in this thesis were the tilted mushroom-shaped and wedge-shaped designs, which could both maximize adhesion by shearing the micropillars toward the tilted direction when preload force is applied. The improved microstructure fabrication process could produce micropillars in the height of 270 μm with soft polymer without defects. However, the miniaturized micropillars in the height of 40 μm, frabricated with the same process, had broken tips and missing structures. The effects of the scale, height, and shape of the micropillars in controllable dry adhesion were investigated through the experiments. The adhesion of the microstructures with artificial gecko setae in the height of 270 μm was 2 times higher than the microstructures with 40 μm of height. Meanwhile, the microstructures that consisted of long and short artificial gecko setae had inferior adhesive performance to the microstructures having uniform long setae on all tested surfaces. Meanwhile, the result showed no direct correlation between the surface roughness of the attached surface and the adhesive performance of the microstructures. The wedge-shaped design was determined to have higher adhesion than the tilted mushroom-shaped design due to lower structural resistance on bending and higher effective contact area