Enhanced Compliant Adhesive Design and Fabrication with Dual-Level Hierarchical Structure

<正> Synthetic dry adhesives inspired by the nano-and micro-scale hairs found on the feet of geckos and some spiders have beendeveloped for almost a decade. Elastomeric single level micro-scale mushroom shaped fibres are currently able to function evenbetter than natural dry adhesives on smooth surfaces under normal loading. However, the adhesion of these single level syntheticdry adhesives on rough surfaces is still not optimal because of the reduced contact surface area. In nature, contact area ismaximized by hierarchically structuring different scales of fibres capable of conforming surface roughness. In this paper, weadapt the nature's solution arid propose a novel dual-level hierarchical adhesive design using Polydimethylsiloxane (PDMS),which is tested under peel loading at different orientations. A negative macro-scale mold is manufactured by using a laser cutterto define holes in a Poly(methyl methacrylate) (PMMA) plate. After casting PDMS macro-scale fibres by using the obtainedPMMA mold, a previously prepared micro-fibre adhesive is bonded to the macro-scale fibre substrate. Once the bondingpolymer is cured, the micro-fibre adhesive is cut to form macro scale mushroom caps. Each macro-fibre of the resulting hierarchicaladhesive is able to conform to loads applied in different directions. The dual-level structure enhances the peel strengthon smooth surfaces compared to a single-level dry adhesive, but also weakens the shear strength of the adhesive for a given areain contact. The adhesive appears to be very performance sensitive to the specific size of the fibre tips, and experiments indicatethat designing hierarchical structures is not as simple as placing multiple scales of fibres on top of one another, but can requiresignificant design optimization to enhance the contact mechanics and adhesion strength.     

Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion:A Quasi-Static Investigation

Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the characteristics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimization routine is used, and its output is a sequence of optimal posture and motor torque set-points.     

Abigaille-Ⅲ： A Versatile,Bioinspired Hexapod for Scaling Smooth Vertical Surfaces

This paper presents a novel, legged robot, Abigaille-Ⅲ, which is a hexapod actuated by 24 miniature gear motors. This robot uses dual-layer dry adhesives to climb smooth, vertical surfaces. Because dry adhesives are passive and stick to various surfaces, they have advantages over mechanisms such as suction, claws and magnets. The mechanical design and posture of Abigaille-Ⅲ were optimized to reduce pitchback forces during vertical climbing. The robot＇s electronics were designed around a Field Programmable Gate Array, producing a versatile computing architecture. The robot was reconfigured for vertical climbing with both 5 and 6 legs, and with 3 or 4 motors per leg, without changes to the electronic hardware. Abigaille-Ⅲ demonstrated dexterity through vertical climbing on uneven surfaces, and by transferring between horizontal and vertical sur- faces. In endurance tests, Abigaille-Ⅲ completed nearly 4 hours of continuous climbing and over 7 hours of loitering, showing that dry adhesive climbing systems can be used for extended missions.     

利用蛋白质组学手段鉴定新型贻贝足丝蛋白

贻贝通过足腺分泌特有的足丝并以此粘附于水下各种基质表面.贻贝足丝中富含各种粘附蛋白,其优异的水下粘附性能使其成为开发新型生物粘合剂的候选分子.厚壳贻贝足丝粘附能力强,本文采用尿素及盐酸胍抽提结合二维双向电泳技术（two-dimensional electrophoresis, 2-DE）,分别对厚壳贻贝足丝纤维和足丝盘的蛋白质进行分离及染色;采用串联质谱技术结合常规搜库和表达序列标签（EST) 数据库搜索,对分离获得的蛋白质点进行鉴定,从中获得了mfp-3、mfp-6、胶原蛋白以及3种未曾报道过的新型贻贝足丝蛋白成分.上述研究为深入了解厚壳贻贝足丝蛋白的分子多样性、探讨其粘附机理以及从中筛选具有应用前景的贻贝足丝蛋白奠定了基础.     

A Four-legged Wall-climbing Robot with Spines and Miniature Setae Array Inspired by Longicorn and Gecko

In industrial applications,climbing robots are widely used for climbing and detection of rough or smooth pipe surfaces.Inspired by the special claws of longicor...     

Empirical Study on Shapes of the Foot Pad and Walking Gaits for Water-Running Robots

Recently, various kinds ofbiomimetic robots have been studied. Among these biomimetic robots, water-running robots that mimic the characteristics of basilisk lizards have received much attention. However, studies on the performance with respect to different geometric parameters and gaits have been lacking. To run on the surface of water, a water-running robot needs suffi- cient force with high stability to stay above the water. We experimentally measured the performance of the foot pads with different geometric parameters and with various gaits. We measured and analyzed the forces in the vertical direction and rolling angles of five different foot pad shapes： a circular shape, square shape, half-spherical shape, open half-cylinder shape, and closed half-cylinder shape. Additionally, the rolling stabilities of three kinds of gaits： biped, trotting, and tripod, were also empirically analyzed. The results of this research can be used as a guideline to design a stable water-running robot.     

Underwater locomotion in a terrestrial beetle: combination of surface de-wetting and capillary forces

For the first time, we report the remarkable ability of the terrestrial leaf beetle Gastrophysa viridula to walk on solid substrates under water. These beetles have adhesive setae on their feet that produce a secretory fluid having a crucial role in adhesion on land. In air, adhesion is produced by capillary forces between the fluid-covered setae and the substrate. In general, capillary forces do not contribute to adhesion under water. However, our observations showed that these beetles may use air bubbles trapped between their adhesive setae to walk on flooded, inclined substrata or even under water. Beetle adhesion to hydrophilic surfaces under water was lower than that in air, whereas adhesion to hydrophobic surfaces under water was comparable to that in air. Oil-covered hairy pads had a pinning effect, retaining the air bubbles on their feet. Bubbles in contact with the hydrophobic substrate de-wetted the substrate and produced capillary adhesion. Additional capillary forces are generated by the pad's liquid bridges between the foot and the substrate. Inspired by this idea, we designed an artificial silicone polymer structure with underwater adhesive properties.     

Expression of functional recombinant mussel adhesive protein Mgfp-5 in Escherichia coli

Mussel adhesive proteins have been suggested as a basis for environmentally friendly adhesives for use in aqueous conditions and in medicine. However, attempts to produce functional and economical recombinant mussel adhesive proteins (mainly foot protein type 1) in several systems have failed. Here, the cDNA coding for Mytilus galloprovincialis foot protein type 5 (Mgfp-5) was isolated for the first time. Using this cDNA, we produced a recombinant Mgfp-5 fused with a hexahistidine affinity ligand, which was expressed in a soluble form in Escherichia coli and was highly purified using affinity chromatography. The adhesive properties of purified recombinant Mgfp-5 were compared with the commercial extracted mussel adhesive Cell-Tak by investigating adhesion force using atomic force microscopy, material surface coating, and quartz crystal microbalance. Even though further macroscale assays are needed, these microscale assays showed that recombinant Mgfp-5 has significant adhesive ability and may be useful as a bioadhesive in medical or underwater environments.     

Tribological Behavior of Gampsocleis Gratiosa Foot Pad Against Vertical Flat Surfaces

Some tribological behavior between mature Gampsocleis gratiosa foot pads and vertical flats of different materials were studied in this work. stereomicroscope （SMS） and scanning electron microscope （SEM） were used to measure the morphology of the Gampsocleis gratiosa foot pads. An atomic force microscope （AFM） was used to measure the morphologies of the surfaces of glass and a wall doped with calcium carbonate material. The attaching behavior of Gampsocleis gratiosa feet on the two vertical surfaces was observed. The attaching force （perpendicular to the vertical surface） and the static frictional force （along the direction of gravitation） of Gampsocleis gratiosa foot pads on a vertical glass were measured. It was shown that the average attaching force is 50.59 mN and the static frictional force is 259.10 mN. The physical models of the attaching interface between Gampsocleis gratiosa foot pads and the two vertical surfaces were proposed. It was observed that the foot pads are smooth in macroscale; however, the pad surface is composed by approximate hexagonal units with sizes of 3 μm to 7 μm in microscale; the adjacent units are separated by nanoscale grooves. The Observations showed that the Gampsocleis gratiosa can not climb the vertical calcium carbonate wall; in contrast, they can easily climb the vertical glass surface. Based on the features of the geometrical morphologies of the foot pads and the glass surface, we speculate that the attaching force and strong static frictional force are attributed to the interinlays between the deformable Gampsocleis gratiosa foot pads and the nanoscale sharp tips of the glass surface.     

A Biomimetic Climbing Robot Based on the Gecko

1 Introduction The locomotion, sensing, navigation, and adapta- tion capabilities in animals have long inspired humans to emulate them in robots. The purpose of this study was to determine the potential of climbing robots for both ter- restrial and extra-terrestrial explorations. Robots similar to their biological counterparts require extensive sys- tems for power, locomotion, and actuation, with com- putation, sensing, and autonomy. From animal research and current technologies, the possibili…     

Expression of Functional Recombinant Mussel Adhesive Protein Mgfp-5 in Escherichia coli

Mussel adhesive proteins have been suggested as a basis for environmentally friendly adhesives for use in aqueous conditions and in medicine. However, attempts to produce functional and economical recombinant mussel adhesive proteins (mainly foot protein type 1) in several systems have failed. Here, the cDNA coding for Mytilus galloprovincialis foot protein type 5 (Mgfp-5) was isolated for the first time. Using this cDNA, we produced a recombinant Mgfp-5 fused with a hexahistidine affinity ligand, which was expressed in a soluble form in Escherichia coli and was highly purified using affinity chromatography. The adhesive properties of purified recombinant Mgfp-5 were compared with the commercial extracted mussel adhesive Cell-Tak by investigating adhesion force using atomic force microscopy, material surface coating, and quartz crystal microbalance. Even though further macroscale assays are needed, these microscale assays showed that recombinant Mgfp-5 has significant adhesive ability and may be useful as a bioadhesive in medical or underwater environments.     

An investigation of ecological correlates with hand and foot morphology in callitrichid primates

Studies of primate taxonomy and phylogeny often depend on comparisons of limb dimensions, yet there is little information on how morphology correlates and contributes to foraging strategies and ecology. Callitrichid primates are ideal for comparative studies as they exhibit a range of body size, limb proportions and diet. Many callitrichid species exhibit a high degree of exudativory, and to efficiently exploit these resources, they are assumed to have evolved morphologies that reflect a level of dependence on these resources. We tested assumptions by considering measurements of limb proportion and frictional features of the volar surfaces in preserved specimens of 25 species with relation to published life history and ecological data. The degree of exudativory and utilization of vertical substrates during foraging were found to correlate both with size and with size‐corrected foot and hand dimensions. Smaller species, which engage in greater degrees of exudativory, had proportionally longer hands and feet and more curved claw‐like tegulae (nails) on their digits to facilitate climbing on vertical substrates. The density of patterned ridges (dermatoglyphs) on the volar surfaces of the hands and feet is higher in more exudativorous genera, suggesting a role in climbing on vertical tree trunks during foraging. Dermatoglyph comparisons suggest that ridges on the soles and palms may facilitate food procurement by enhancing frictional grip during exudate feeding. Volar pad features corroborate taxonomic relationships described from dental morphology. Am J Phys Anthropol 152:447–458, 2013. © 2013 Wiley Periodicals, Inc.     

Effect of Microscale Contact State of Polyurethane Surface on Adhesion and Friction

The effect of microscale contact of rough surfaces on the adhesion and friction under negative normal forces was experimentally investigated. The adhesive force of single point contact - sapphire ball to flat polyurethane did not vary with the normal force. With rough surface contact, which was assumed to be a great number of point contacts, the adhesive force increased logarithmically with the normal force. Under negative normal force adhesive state, the tangential force （more than hundred mN） were much larger than the negative normal force （several mN） and increased with the linear decrease of negative normal force. The results reveal why the gecko＇s toe must slide slightly on the target surface when it makes contact on a surface and suggest how a biomimetic gecko foot might be designed.     

Numerical analysis of a unique mode of locomotion: vertical climbing by Pacific lamprey

Pacific lampreys are capable of climbing vertical wetted surfaces through a two-phase (bending and stretching) locomotion mode using the oral disc for adherence. We investigate the physical mechanism and performance of this process by using a continuous beam model. Two mechanisms, one akin to the jumping process and the other related to the fast stretching of the body, have been identified. This locomotion mode may inspire biomimetic designs of anguilliform swimming devices capable of overcoming steep obstacles. By using a genetic algorithm simulation we identify the combination of kinematic parameters corresponding to optimal efficiency (defined as the gravitational potential energy gained in each climbing step divided by the energy spent to activate the motion). These parameters are similar to laboratory observations of lamprey motion, suggesting that this type of locomotion has been optimized for maximum efficiency through evolution.     

Comparative histological and immunohistochemical study of sea star tube feet (Echinodermata, Asteroidea)

Adhesion in sea stars is the function of specialized structures, the tube feet or podia, which are the external appendages of the water-vascular system. Adhesive secretions allow asteroid tube feet to perform multiple functions. Indeed, according to the sea star species considered, the tube feet may be involved in locomotion, fixation, or burrowing. Different tube foot shapes usually correspond to this variety of function. In this study, we investigated the variability of the morphology of sea star tube feet as well as the variability of the composition of their adhesive secretions. This second aspect was addressed by a comparative immunohistochemical study using antibodies raised against the adhesive material of the forcipulatid Asterias rubens. The tube feet from 14 sea star species representing five orders and 10 families of the Class Asteroidea were examined. The histological study revealed three main tube foot morphotypes, i.e., knob-ending, simple disc-ending, and reinforced disc-ending. Analysis of the results suggests that tube foot morphology is influenced by species habitat, but within limits imposed by the evolutionary lineage. In immunohistochemistry, on the other hand, the results were very homogeneous. In every species investigated there was a very strong immunolabeling of the adhesive cells, independently of the taxon considered, of the tube foot morphotype or function, or of the species habitat. This indicates that the adhesives in all the species considered are closely related, probably sharing many identical molecules or, at least, many identical epitopes on their constituents.     

Kinematic Analysis and Experimental Verification on the Locomotion of Gecko

This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematicmodel.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research.The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditionsthat maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motionof the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degreesof freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model issimulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko’smotion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combinationof closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground.The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three othergaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.Theresult can be used in biomimetic robot design and motion planning.     

厚壳贻贝足丝黏附蛋白mfp-3的重组表达及黏附功能分析

厚壳贻贝（Mytilus coruscus）中富含各种黏附蛋白分子,其中贻贝足丝蛋白3（mussel foot protein-3, mfp-3）是贻贝用以与外界基质进行黏附的主要蛋白分子.贻贝足丝中天然的mfp-3的含量低,水溶性差,因此纯化困难.本文以厚壳贻贝足丝蛋白mfp-3的cDNA序列为目的基因,用PCR法扩增Mfp-3基因,并成功构建含有多聚组氨酸标签的重组mfp-3原核表达载体pET-21a/ Mfp-3.经IPTG（isopropylthio-β-D-galactoside）诱导表达出重组蛋白,利用亲和层析和反相高效液相色谱分离纯化,获得分子量为9.18 kD的重组蛋白.经酪氨酸酶催化、玻璃包被和石英晶体微天平（quartz crystal microbalance,QCM）分析.结果表明,重组厚壳贻贝mfp-3蛋白经酪氨酸酶催化后,L-3,4-二羟基苯丙氨酸(即多巴,L-3,4- dihydroxyphenylalanine, DOPA) 含量较高并且具有较好的黏附性能.上述研究为开发以mfp-3黏附蛋白为来源的生物粘合剂奠定了良好的基础.     

Interdigital webbing and skin morphology in the neotropical salamander genus Bolitoglossa (amphibia; plethodontidae)

Arboreal salamanders of the Neotropical genus Bolitoglossa are characterized by palmate, fully webbed feet. The feet act as adhesive structures enabling the salamanders to cling to smooth surfaces. Scanning electron microscopy of skin epithelium and light microscopy of serial sections show exceptionally smooth cell surfaces and increased numbers of mucous glands on the soles of the feet. These features enhance the abilities of the feet to adhere by means of surface tension and suction. They are part of a set of morphological characteristics that may have been produced as a result of paedomorphosis.     

Locomotion of the Eurasian nuthatch on vertical and horizontal substrates

Legged locomotion of the Eurasian nuthatch Sitta europaea on horizontal and vertical substrates was examined using field observations and experiments. Although previous studies have reported that nuthatches use 'walking' on vertical substrates, we found that they usually used 'hopping' on both vertical and horizontal substrates. When climbing up a vertical substrate, the feet were staggered in position and small phase differences were observed between the left and right leg movements in the gait. In upward climbing, the body was inclined towards the substrate during the first stance phase similar to other tree-trunk climbers, but the tail was not used for helping body rotation unlike most tree-trunk climbers. The staggered position of the feet may allow the legs to play different roles in pulling towards and pushing away from the substrate. In downward climbing, the feet were staggered in position, but the phase difference was quite small. In field observations, the Eurasian nuthatch preferred to move vertically, rather than in an inclined direction.     

Surgical treatment of the cleft foot

Between 1970 and 1997, we treated a total of 32 cleft feet in 21 patients (11 male and 10 female). We classified cases of cleft foot on the basis of the number of central ray deficiencies. Fourteen patients with 22 cleft feet were followed up for more than 1 year postoperatively (9 feet had no or one central ray deficiency, and 13 feet had two or three central ray deficiencies). The mean follow-up period was 8.8 years. The objective of this study was to evaluate the results of operative treatment of cleft foot. We evaluated the results of three methods: simple closure of the cleft, application of a double-pedicled flap, and insertion of a silicone block. Cosmetic complications, including widening of the foot, hypertrophic scarring, pigmentation of the grafted skin, and overlapping of the toes, were observed in patients with two or three central ray deficiencies. Few functional complications were observed: None of the patients experienced gait disturbances, although one patient complained of pain following walking. Roentgenography showed that the distance between the first and fifth metatarsals was 86 percent of that of the contralateral foot. When treating patients with no or one central ray deficiency, satisfactory results can be expected with simple closure of the cleft. However, in patients with two or three central ray deficiencies, it is difficult to obtain satisfactory results with simple closure of the cleft or application of a double-pedicled flap. Therefore, silicone block insertion to correct the defect is recommended when there is more than one central ray deficiency.