Structural design and biomechanics of friction-based releasable attachment devices in insects

Electro-Sorting Create Heterogeneity: Constructing A Multifunctional Janus Film with Integrated Compositional and Microstructural Gradients for Guided Bone Regeneration

Biology remains the envy of flexible soft matter fabrication because it can satisfy multiple functional needs by organizing a small set of proteins and polysaccharides into hierarchical systems with controlled heterogeneity in composition and microstructure. Here, it is reported that controlled, mild electronic inputs (<10 V; <20 min) induce a homogeneous gelatin-chitosan mixture to undergo sorting and bottom-up self-assembly into a Janus film with compositional gradient (i.e., from chitosan-enriched layer to chitosan/gelatin-contained layer) and tunable dense-porous gradient microstructures (e.g., porosity, pore size, and ratio of dense to porous layers). This Janus film performs is shown multiple functions for guided bone regeneration: the integration of compositional and microstructural features confers flexible mechanics, asymmetric properties for interfacial wettability, molecular transport (directional growth factor release), and cellular responses (prevents fibroblast infiltration but promotes osteoblast growth and differentiation). Overall, this work demonstrates the versatility of electrofabrication for the customized manufacturing of functional gradient soft matter.

Sliding friction of a pillar array interface: part I

Biology is replete with examples, at length scales ranging from the molecular (ligand-receptor binding) to the mesoscopic scale (wing arresting structures on dragonflies) where shape-complementary surfaces are used to control interfacial mechanical properties such as adhesion, friction, and contact compliance. Related bio-inspired and biomimetic structures have been used to achieve unique interfacial properties such as friction and adhesion enhancement, directional and switchable properties. The ability to tune friction by altering surface structures offers advantages in various fields, such as soft robotics and tire manufacturing. Here, we present a study of friction between polydimethylsiloxane (PDMS) samples with surfaces patterned with pillar-arrays. When brought in contact with each other the two samples spontaneously produce a Moiré pattern that can also be represented as an array of interfacial dislocations that depends on interfacial misorientation and lattice spacing. Misorientation alone produces an array of screw dislocations, while lattice mismatch alone produces an array of edge dislocations. Relative sliding motion is accompanied by interfacial glide of these patterns. The frictional force resisting dislocation glide arises from periodic single pillar-pillar contact and sliding. We study the behavior of pillar-pillar contact with larger (millimeter scale) pillar samples. Inter-pillar interaction measurements are combined with a geometric model for relative sliding to calculate frictional stress that is in good agreement with experiments.

The tight attachment achieved by the male discoidal setae is possibly a counter-adaptation to the grease layer on female integument surfaces in green dock beetles

Green dock beetles Gastrophysa viridula exhibit sexual dimorphism in tarsal attachment setae: females have only pointed, lanceolate and spatula-like setae, while males additionally possess discoidal ones. The sexual dimorphism is probably attributed to the necessity of male discoidal setae to adhere to the smooth back of the female during copulation. We aimed to understand its possible mechanism of attachment with G. viridula. Pull-off forces of both females and males were measured on (i) alive females, (ii) dead and dried females, and (iii) resin replicas of fresh females. The attachment ability tended to increase on dead and replicated female surfaces in both sexes, which indicates that the epicuticular grease layer on the integument of alive intact beetles decreases the attachment. This tendency was prominent in females. The present study clearly showed that in G. viridula discoidal setae enable the males to adhere stronger to female surfaces. The divergent performance found between the sexes differing in their setal composition is probably caused by the stiffness difference between the setae types and by the specific shape of the setal tips. A peculiar reproductive biology in G. viridula is probably attributed to this remarkable divergence of labour in their attachment pads between the sexes.

Adaptive behaviors of Drosophila larvae on slippery surfaces

Friction is ubiquitous but an essential force for insects during locomotion. Insects use dedicated bio-mechanical systems such as adhesive pads to modulate the intensity of friction, providing a stable grip with touching substrates for locomotion. However, how to uncover behavioral adaptation and regulatory neural circuits of friction modification is still largely understood. In this study, we devised a novel behavior paradigm to investigate adaptive behavioral alternation of Drosophila larvae under low-friction surfaces. We found a tail looseness phenotype similar to slipping behavior in humans, as a primary indicator to assess the degree of slipping. We found a gradual reduction on slipping level in wild-type larvae after successive larval crawling, coupled with incremental tail contraction, displacement, and speed acceleration. Meanwhile, we also found a strong correlation between tail looseness index and length of contraction, suggesting that lengthening tail contraction may contribute to enlarging the contact area with the tube. Moreover, we found a delayed adaptation in rut mutant larvae, inferring that neural plasticity may participate in slipping adaptation. In conclusion, our paradigm can be easily and reliably replicated, providing a feasible pathway to uncover the behavioral principle and neural mechanism of acclimation of Drosophila larvae to low-friction conditions.

A robotic leg inspired from an insect leg

While most insect-inspired robots come with a simple tarsus, such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and detach on plant surfaces by actuating a single muscle. Thus, installing an insect-inspired tarsus on legged robots would improve their locomotion on complex terrain. This paper shows that the tendon-driven ball-socket structure provides the tarsus with both flexibility and rigidity, which is necessary for the beetle to walk on a complex substrate such as a mesh surface. Disabling the tarsus' rigidity by removing the socket and elastic membrane of a tarsal joint, means that the claws could not attach to the mesh securely. Meanwhile, the beetle struggled to draw the claws out of the substrate when we turned the tarsus rigid by tubing. We then developed a cable-driven bio-inspired tarsus structure to validate the function of the tarsus as well as to show its potential application in the legged robot. With the tarsus, the robotic leg was able to attach and retract smoothly from the mesh substrate when performing a walking cycle.

A biomimetic remora disc with tunable, reversible adhesion for surface sliding and skimming

Remora suckerfish (Echeneis naucrates) can perform skimming and sliding motions on the surfaces of moving hosts to optimize adhesion positions. We found that remora achieve skimming and sliding motions through coordinated movement of the suction disc's lamellae and lip locomotion through live animal observations. We implemented an integrated biomimetic remora suction disc based on morphological and kinematic data of biological remoras. With soft actuators enabling 'compression-rotation' and 'compression-extension', the biomimetic disc controls the disc lip and lamellar movement under driving with only one degree of freedom, and can switch freely between three states: zero, low-friction, and robust adhesion. Then we investigate the effects of the biomimetic suction-disc soft-lip material, preload, and lamellar movement on the tangential friction force (both forward and backward) under different adhesion states. This biomimetic suction disc with a low-modulus soft lip can adhere to a smooth surface under 0.1 N preload and achieve normal adhesion-force and tangential frictional-force control ranges spanning ∼10^-1to ∼10²N and ∼10^-1to ∼10¹N, respectively. The results reveal how remora disc achieved fast, tunable adhesion for skimming and sliding on surfaces. Furthermore, we demonstrate a bio-inspired robot capable of attachment, detachment, skimming, and sliding motions with the aiding of simple biomimetic pectoral-fin flapping. This study lays a foundation for future integrated applications of underwater adhesion robots and related biomechanical exploration.

Mechanical property gradients of taenioglossan radular teeth are associated with specific function and ecological niche in Paludomidae (Gastropoda: Mollusca)

Biological tissues may exhibit graded heterogeneities in structure and mechanical properties that are crucial to their function. One biological structure that shows variation in both structure and function is the molluscan radula: the organ comprises a chitinous membrane with embedded teeth and serves to process and gather food. The tooth morphologies had been well studied in the last decades, but the mechanical properties of the teeth are not known for the vast majority of molluscs. This knowledge gap restricts our understanding of how the radula is able to act effectively on a target surface whilst simultaneously resisting structural failure. Here we employed nanoindentation technique to measure mechanical properties (hardness and Young's modulus) on distinct localities of individual radular teeth from 24 species of African paludomid gastropods. These species have distinct ecological niches as they forage on algae on different feeding substrates. A gradual distribution of measured properties along the teeth was found in species foraging on solid or mixed feeding substrates, but soft substrate feeders exhibit teeth almost homogeneous in their biomechanical properties. The presence or absence of large-scale gradients in these taenioglossan teeth could directly be linked with their specific function and in general with the species ecology, whereas the radular tooth morphologies do not always and fully reflect ecology. STATEMENT OF SIGNIFICANCE: African Lake Tanganyika is well known for harbouring endemic and morphologically distinct genera. Its paludomid gastropods form a flock of high interest because of its diversity. As they show distinct radular tooth morphologies hypotheses about potential trophic specializations had always been at hand. Here we evaluated the mechanical properties Young's modulus and hardness of 9027 individual teeth from 24 species along the tooth by nanoindentation and related them with the gastropods' specific feeding substrate. We find that hard substrate feeders have teeth that are hard at the tips but much less stiff at the base and thus heterogeneous with respect to material properties, whereas soft substrate feeders have teeth that are flexible and homogenous with respect to material properties.

Emerging bioadhesives: from traditional bioactive and bioinert to a new biomimetic protein-based approach

Bioadhesives have reached significant milestones over the past two decades. Research has shown not only to produce adhesives capable of adhering to dry tissue but recently wet tissue as well. However, most bioadhesives developed have exhibited high adhesion strength yet lack other properties required for versatility in application, such as elasticity, biocompatibility and biodegradability. Adapting from limitations met from early bioadhesives and meeting the current demand allows novel bioadhesives to reach new milestones for the future. In this review, we overview the progression and variations of bioadhesives, current trends, characterisation techniques and conclude with future perspectives for bioadhesives for tissue engineering applications.

Mechanosensory Hairs and Hair-like Structures in the Animal Kingdom: Specializations and Shared Functions Serve to Inspire Technology Applications

Biological mechanosensation has been a source of inspiration for advancements in artificial sensory systems. Animals rely on sensory feedback to guide and adapt their behaviors and are equipped with a wide variety of sensors that carry stimulus information from the environment. Hair and hair-like sensors have evolved to support survival behaviors in different ecological niches. Here, we review the diversity of biological hair and hair-like sensors across the animal kingdom and their roles in behaviors, such as locomotion, exploration, navigation, and feeding, which point to shared functional properties of hair and hair-like structures among invertebrates and vertebrates. By reviewing research on the role of biological hair and hair-like sensors in diverse species, we aim to highlight biological sensors that could inspire the engineering community and contribute to the advancement of mechanosensing in artificial systems, such as robotics.

Bioinspired Smart Materials With Externally-Stimulated Switchable Adhesion

Living organisms have evolved, over billions of years, to develop specialized biostructures with switchable adhesion for various purposes including climbing, perching, preying, sensing, and protecting. According to adhesion mechanisms, switchable adhesives can be divided into four categories: mechanically-based adhesion, liquid-mediated adhesion, physically-actuated adhesion and chemically-enhanced adhesion. Mimicking these biostructures could create smart materials with switchable adhesion, appealing for many engineering applications in robotics, sensors, advanced drug-delivery, protein separation, etc. Progress has been made in developing bioinspired materials with switchable adhesion modulated by external stimuli such as electrical signal, magnetic field, light, temperature, pH value, etc. This review will be focused on new advance in biomimetic design and synthesis of the materials and devices with switchable adhesion. The underlying mechanisms, design principles, and future directions are discussed for the development of high-performance smart surfaces with switchable adhesion.

Physical constraints lead to parallel evolution of micro- and nanostructures of animal adhesive pads: a review

Adhesive pads are functional systems with specific micro- and nanostructures which evolved as a response to specific environmental conditions and therefore exhibit convergent traits. The functional constraints that shape systems for the attachment to a surface are general requirements. Different strategies to solve similar problems often follow similar physical principles, hence, the morphology of attachment devices is affected by physical constraints. This resulted in two main types of attachment devices in animals: hairy and smooth. They differ in morphology and ultrastructure but achieve mechanical adaptation to substrates with different roughness and maximise the actual contact area with them. Species-specific environmental surface conditions resulted in different solutions for the specific ecological surroundings of different animals. As the conditions are similar in discrete environments unrelated to the group of animals, the micro- and nanostructural adaptations of the attachment systems of different animal groups reveal similar mechanisms. Consequently, similar attachment organs evolved in a convergent manner and different attachment solutions can occur within closely related lineages. In this review, we present a summary of the literature on structural and functional principles of attachment pads with a special focus on insects, describe micro- and nanostructures, surface patterns, origin of different pads and their evolution, discuss the material properties (elasticity, viscoelasticity, adhesion, friction) and basic physical forces contributing to adhesion, show the influence of different factors, such as substrate roughness and pad stiffness, on contact forces, and review the chemical composition of pad fluids, which is an important component of an adhesive function. Attachment systems are omnipresent in animals. We show parallel evolution of attachment structures on micro- and nanoscales at different phylogenetic levels, focus on insects as the largest animal group on earth, and subsequently zoom into the attachment pads of the stick and leaf insects (Phasmatodea) to explore convergent evolution of attachment pads at even smaller scales. Since convergent events might be potentially interesting for engineers as a kind of optimal solution by nature, the biomimetic implications of the discussed results are briefly presented.

Meso-scale dislocations and friction of shape-complementary soft interfaces

The interface between two surfaces patterned with complementary shapes such as arrays of ridge-channel structures or pillars accommodates relative misorientation and lattice mismatch by spontaneous production of dislocation arrays. Here, we show that the relative sliding of such an interface is accomplished by dislocation glide on the interfacial plane. An exception is the singular case where the lattices are perfectly matched across the sample dimension, in which case sliding is accompanied by motion of edge-nucleated defects. These are meso-scale analogues of molecular sliding friction mechanisms between crystalline interfaces. The dislocations, in addition to the long-range elastic energy associated with their Burgers vectors, also cause significant out-of-plane dilation, which props open the interface locally. For this reason, the sliding friction is strongly pressure dependent; it also depends on the relative orientation of the patterns. Sliding friction can be strongly enhanced compared with a control, showing that shape-complementary interfaces can be engineered for strongly enhanced pressure- and orientation-dependent frictional properties in soft solids.

Drosophila uses a tripod gait across all walking speeds, and the geometry of the tripod is important for speed control

Changes in walking speed are characterized by changes in both the animal's gait and the mechanics of its interaction with the ground. Here we study these changes in walking Drosophila. We measured the fly's center of mass movement with high spatial resolution and the position of its footprints. Flies predominantly employ a modified tripod gait that only changes marginally with speed. The mechanics of a tripod gait can be approximated with a simple model - angular and radial spring-loaded inverted pendulum (ARSLIP) - which is characterized by two springs of an effective leg that become stiffer as the speed increases. Surprisingly, the change in the stiffness of the spring is mediated by the change in tripod shape rather than a change in stiffness of individual legs. The effect of tripod shape on mechanics can also explain the large variation in kinematics among insects, and ARSLIP can model these variations.

Transfer Printing of Electronic Functions on Arbitrary Complex Surfaces

Transfer printing of electronic functions on arbitrary surfaces is essential for next-generation applications of skin-attachable electronics, wearable sensors, and implantable/medical devices. For transfer printing of electronic functions on multidimensional surfaces, such as curved regions of the skin and different objects, various strategies have been devised based on the materials and structural design of electronic components and transfer stamps, such as ultrathin membranes or in-plane structures of electronic components, soft interfacial glues or adhesives between devices and surfaces, and smart transfer adhesives with bioinspired micro/nanostructures. These techniques enable high conformity of adhesion, mechanical robustness, and high compliance of electronic devices on arbitrary surfaces under mechanical deformation. In this Perspective, we provide an overview of recent transfer printing techniques and discuss their advantages and challenges. In addition, we report a recently developed transfer printing technique based on bioinspired smart adhesives with reversible adhesion, which enables compliant electronics on various arbitrary complex surfaces without performance degradation, providing solutions for various technical challenges remaining in transfer printing. Finally, we present potential applications of transfer printing and future perspectives for this emerging field.

Bioinspired Interfacial Strengthening Flexible Supercapacitors via Hierarchically Topological Interlocking Strategy

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

Bioinspired Adhesive Architectures: From Skin Patch to Integrated Bioelectronics

The attachment phenomena of various hierarchical architectures found in nature have extensively drawn attention for developing highly biocompatible adhesive on skin or wet inner organs without any chemical glue. Structural adhesive systems have become important to address the issues of human-machine interactions by smart outer/inner organ-attachable devices for diagnosis and therapy. Here, advances in designs of biologically inspired adhesive architectures are reviewed in terms of distinct structural properties, attachment mechanisms to biosurfaces by physical interactions, and noteworthy fabrication methods. Recent demonstrations of bioinspired adhesive architectures as adhesive layers for medical applications from skin patches to multifunctional bioelectronics are presented. To conclude, current challenges and prospects on potential applications are also briefly discussed.

Replicating the complexity of natural surfaces: technique validation and applications for biomimetics, ecology and evolution

The surfaces of animals, plants and abiotic structures are not only important for organismal survival, but they have also inspired countless biomimetic and industrial applications. Additionally, the surfaces of animals and plants exhibit an unprecedented level of diversity, and animals often move on the surface of plants. Replicating these surfaces offers a number of advantages, such as preserving a surface that is likely to degrade over time, controlling for non-structural aspects of surfaces, such as compliance and chemistry, and being able to produce large areas of a small surface. In this paper, we compare three replication techniques among a number of species of plants, a technical surface and a rock. We then use two model parameters (cross-covariance function ratio and relative topography difference) to develop a unique method for quantitatively evaluating the quality of the replication. Finally, we outline future directions that can employ highly accurate surface replications, including ecological and evolutionary studies, biomechanical experiments, industrial applications and improving haptic properties of bioinspired surfaces. The recent advances associated with surface replication and imaging technology have formed a foundation on which to incorporate surface information into biological sciences and to improve industrial and biomimetic applications. This article is part of the theme issue 'Bioinspired materials and surfaces for green science and technology'.

Holding tight to feathers - structural specializations and attachment properties of the avian ectoparasite Crataerina pallida (Diptera, Hippoboscidae)

The louse fly Crataerina pallida is an obligate blood-sucking ectoparasite of the common swift Apus apus As a result of reduction of the wings, C. pallida is unable to fly; thus, an effective and reliable attachment to their host's plumage is of utmost importance. The attachment system of C. pallida shows several modifications in comparison to that of other calyptrate flies, notably the large tridentate claws and the dichotomously shaped setae located on the pulvilli. Based on data from morphological analysis, confocal laser scanning microscopy, cryo-scanning electron microscopy and attachment force experiments performed on native (feathers) as well as artificial substrates (glass, epoxy resin and silicone rubber), we showed that the entire attachment system is highly adapted to the fly's lifestyle as an ectoparasite. The claws in particular are the main contributor to strong attachment to the host. Resulting attachment forces on feathers make it impossible to detach C. pallida without damage to the feathers or to the legs of the louse fly itself. Well-developed pulvilli are responsible for the attachment to smooth surfaces. Both dichotomously shaped setae and high setal density explain high attachment forces observed on smooth substrates. For the first time, we demonstrate a material gradient within the setae, with soft, resilin-dominated apical tips and stiff, more sclerotized bases in Diptera. The empodium seems not to be directly involved in the attachment process, but it might operate as a cleaning device and may be essential to maintain the functionality of the entire attachment system.

Armours for soft bodies: how far can bioinspiration take us?

The development of armour is as old as the dawn of civilization. Early man looked to natural structures to harvest or replicate for protection, leaning on millennia of evolutionary developments in natural protection. Since the advent of more modern weaponry, Armor development has seemingly been driven more by materials research than bio-inspiration. However, parallels can still be drawn between modern bullet-protective armours and natural defensive structures. Soft armour for handgun and fragmentation threats can be likened to mammalian skin, and similarly, hard armour can be compared with exoskeletons and turtle shells. Via bio-inspiration, it may be possible to develop structures previously un-researched for ballistic protection. This review will cover current modern ballistic protective structures focusing on energy dissipation and absorption methods, and their natural analogues. As all armour is a compromise between weight, flexibility and protection, the imbricated structure of scaled skin will be presented as a better balance between these factors.

Through-Layer Buckle Wavelength-Gradient Design for the Coupling of High Sensitivity and Stretchability in a Single Strain Sensor

Recent years have witnessed a breathtaking development of wearable strain sensors. Coupling high sensitivity and stretchability in a strain sensor is greatly desired by emerging wearable applications but remains a big challenge. To tackle this issue, a through-layer buckle wavelength-gradient design is proposed and a facile and universal fabrication strategy is demonstrated to introduce such a gradient into the sensing film with multilayered sensing units. Following this strategy, strain sensors are fabricated using graphene woven fabrics (GWFs) as sensing units, which exhibit highly tunable electromechanical performances. Specifically, the sensor with 10-layer GWFs has a gauge factor (GF) of 2996 at a maximum strain of 242.74% and an average GF of 327. It also exhibits an extremely low minimum detection limit of 0.02% strain, a fast signal response of less than 90 ms, and a high cyclic durability through more than 10 000 cycling test. Such excellent performances qualify it in accurately monitoring full-range human activities, ranging from subtle stimuli (e.g., pulse, respiration, and voice recognition) to vigorous motions (finger bending, walking, jogging, and jumping). The combination of experimental observations and modeling study shows that the predesigned through-layer buckle wavelength gradient leads to a layer-by-layer crack propagation process, which accounts for the underlying working mechanism. Modeling study shows a great potential for further improvement of sensing performances by adjusting fabrication parameters such as layers of sensing units ( n) and step pre-strain (ε_sp). For one thing, when ε_sp is fixed, the maximum sensing strain could be adjusted from >240% ( n = 10) to >450% ( n = 15) and >1200% ( n = 20). For the other, when n is fixed, the maximum sensing strain could be adjusted from >240% (ε_sp = 13.2%) to >400% (ε_sp = 18%) and >800% (ε_sp = 25%).

Substrate texture affects female cricket walking response to male calling song

Field crickets are extensively used as a model organism to study female phonotactic walking behaviour, i.e. their attraction to the male calling song. Laboratory-based phonotaxis experiments generally rely on arena or trackball-based settings; however, no attention has been paid to the effect of substrate texture on the response. Here, we tested phonotaxis in female Gryllus bimaculatus, walking on trackballs machined from methyl-methacrylate foam with different cell sizes. Surface height variations of the trackballs, due to the cellular composition of the material, were measured with profilometry and characterized as smooth, medium or rough, with roughness amplitudes of 7.3, 16 and 180 µm. Female phonotaxis was best on a rough and medium trackball surface, a smooth surface resulted in a significant lower phonotactic response. Claws of the cricket foot were crucial for effective walking. Females insert their claws into the surface pores to allow mechanical interlocking with the substrate texture and a high degree of attachment, which cannot be established on smooth surfaces. These findings provide insight to the biomechanical basis of insect walking and may inform behavioural studies that the surface texture on which walking insects are tested is crucial for the resulting behavioural response.

Dynamic traversal of large gaps by insects and legged robots reveals a template

It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic locomotion in complex, novel, 3D terrains, such as a forest floor and building rubble, sensing and planning suffer bandwidth limitation and large noise and are sometimes even impossible. Here, we study rapid locomotion over a large gap-a simple, ubiquitous obstacle-to begin to discover the general principles of the dynamic traversal of large 3D obstacles. We challenged the discoid cockroach and an open-loop six-legged robot to traverse a large gap of varying length. Both the animal and the robot could dynamically traverse a gap as large as one body length by bridging the gap with its head, but traversal probability decreased with gap length. Based on these observations, we developed a template that accurately captured body dynamics and quantitatively predicted traversal performance. Our template revealed that a high approach speed, initial body pitch, and initial body pitch angular velocity facilitated dynamic traversal, and successfully predicted a new strategy for using body pitch control that increased the robot's maximal traversal gap length by 50%. Our study established the first template of dynamic locomotion beyond planar surfaces, and is an important step in expanding terradynamics into complex 3D terrains.

Body-terrain interaction affects large bump traversal of insects and legged robots

Small animals and robots must often rapidly traverse large bump-like obstacles when moving through complex 3D terrains, during which, in addition to leg-ground contact, their body inevitably comes into physical contact with the obstacles. However, we know little about the performance limits of large bump traversal and how body-terrain interaction affects traversal. To address these, we challenged the discoid cockroach and an open-loop six-legged robot to dynamically run into a large bump of varying height to discover the maximal traversal performance, and studied how locomotor modes and traversal performance are affected by body-terrain interaction. Remarkably, during rapid running, both the animal and the robot were capable of dynamically traversing a bump much higher than its hip height (up to 4 times the hip height for the animal and 3 times for the robot, respectively) at traversal speeds typical of running, with decreasing traversal probability with increasing bump height. A stability analysis using a novel locomotion energy landscape model explained why traversal was more likely when the animal or robot approached the bump with a low initial body yaw and a high initial body pitch, and why deflection was more likely otherwise. Inspired by these principles, we demonstrated a novel control strategy of active body pitching that increased the robot's maximal traversable bump height by 75%. Our study is a major step in establishing the framework of locomotion energy landscapes to understand locomotion in complex 3D terrains.

Adhesive performance of tropical arboreal ants varies with substrate temperature

The surface temperature of tree branches in the tropical rainforest canopy can reach up to 55°C. Ants and other small cursorial organisms must maintain adequate attachment in this extreme microenvironment to forage effectively and avoid falling. Ant adhesion depends on liquid secretions that should become less viscous at high temperatures, causing ants to slip. However, tropical arboreal ants have high thermal tolerance and actively forage on hot canopy surfaces, suggesting that these ants can maintain adhesion on hot substrates. We measured tarsal pad shear adhesion of 580 workers (representing 11 species and four subfamilies) of tropical arboreal ants at temperatures spanning the range observed in the field (23-55°C). Adhesive performance among species showed three general trends: (1) a linear decrease with increasing temperature, (2) a non-linear relationship with peak adhesive performance at ca. 30-40°C, and (3) no relationship with temperature. The mechanism responsible for these large interspecific differences remains to be determined, but likely reflects variation in the composition of the secreted adhesive fluid. Understanding such differences will reveal the diverse ways that ants cope with highly variable, and often unpredictable, thermal conditions in the forest canopy.

Surface structure and tribology of legless squamate reptiles

Squamate reptiles (around 10,000 species of snakes and lizards) comprise a myriad of distinct terrestrial vertebrates. The diversity within this biological group offers a great opportunity for customized bio-inspired solutions that address a variety of current technological problems especially within the realm of surface engineering and tribology. One subgroup within squamata is of interest in that context, namely the legless reptiles (mainly snakes and few lizards). The promise of that group lies within their functional adaptation as manifested in optimized surface designs and locomotion that is distinguished by economy of effort even when functioning within hostile tribological environments. Legless reptiles are spread over a wide range in the planet, this geographical diversity demands customized response to local habitats. Customization, in turn, is facilitated through specialized surface design features. In legless reptiles, micro elements of texture, their geometry and topological layout advance mitigation of frictional effects both in locomotion and in general function. Lately, the synergy between functional traits and intrinsic surface features has emerged as focus of research across disciplines. Many investigations have sought to characterize the structural as well as the tribological response of legless species from an engineering point of view. Despite the sizable amount of data that have accumulated in the literature over the past two decades or so, no effort to review the available information, whence this review. This manuscript, therefore, endeavors to assess available data on surface metrology and tribological behavior of legless reptiles and to define aspects of that performance necessary to formulate an advanced paradigm for bio-inspired surface engineering.

Show me your tenent setae and I tell you who you are - Telling the story of a neglected character complex with phylogenetic signals using Leiodidae (Coleoptera) as a case study

The tarsal setae in 97 species of Leiodidae and eight outgroups were examined using SEM imaging and dissections. Modified adhesive setae present in males are referred to as "male tenent setae" (MTS). In most cases, dilated tarsomeres were associated with MTS, which were always present on the protarsi and sometimes the mesotarsi. MTS are reported for the first time on the mesotarsi of Leptodirini and on the metatarsi in two genera of Sogdini. Contrary to reports in the literature, the reduction in the number of the MTS bearing mesotarsomeres is considered a derived condition. Both sexes of Leptinus (Platypsyllinae) have modified setae (referred to as tenent setae in the literature), probably related to their specialised association with mammals, and a patch of MTS was recognized for the first time among those modified setae among males. Four main types of MTS are recognised: (1) a plesiomorphic discoidal type that has a shaft with a round cross-section and maintains a similar diameter throughout its length until forming the expanded discoidal terminal plate; (2) a minidiscoidal type, similar to discoidal but with a relatively small terminal plate, found in Cholevinae; (3) a conical type, present in Leiodinae (excluding Estadiini) where the shaft increases in diameter until forming the terminal plate; and (4) a spatulate type, where an even wider terminal plate has a lateral projection, derived from the conical form and synapomorphic for the leiodine tribes Pseudoliodini, Scotocryptini, and possibly Agathidiini.

Surface roughness rather than surface chemistry essentially affects insect adhesion

The attachment ability of ladybird beetles Coccinella septempunctata was systematically investigated on eight types of surface, each with different chemical and topographical properties. The results of traction force tests clearly demonstrated that chemical surface properties, such as static/dynamic de-wettability of water and oil caused by specific chemical compositions, had no significant effect on the attachment of the beetles. Surface roughness was found to be the dominant factor, strongly affecting the attachment ability of the beetles.

Influence of ambient humidity on the attachment ability of ladybird beetles (Coccinella septempunctata)

Many insects possess adhesive foot pads, which enable them to scale smooth vertical surfaces. The function of these organs may be highly affected by environmental conditions. Ladybird beetles (Coccinellidae) possess dense tarsal soles of tenent setae, supplemented with an adhesive fluid. We studied the attachment ability of the seven-spotted ladybird beetle (Coccinella septempunctata) at different humidities by horizontal traction experiments. We found that both low (15%) and high (99%) relative humidities lead to a decrease of attachment ability. The significantly highest attachment forces were revealed at 60% humidity. This relationship was found both in female and male beetles, despite of a deviating structure of adhesive setae and a significant difference in forces between sexes. These findings demonstrate that not only dry adhesive setae are affected by ambient humidity, but also setae that stick due to the capillarity of an oily secretion.

Functional diversity of resilin in Arthropoda

Resilin is an elastomeric protein typically occurring in exoskeletons of arthropods. It is composed of randomly orientated coiled polypeptide chains that are covalently cross-linked together at regular intervals by the two unusual amino acids dityrosine and trityrosine forming a stable network with a high degree of flexibility and mobility. As a result of its molecular prerequisites, resilin features exceptional rubber-like properties including a relatively low stiffness, a rather pronounced long-range deformability and a nearly perfect elastic recovery. Within the exoskeleton structures, resilin commonly forms composites together with other proteins and/or chitin fibres. In the last decades, numerous exoskeleton structures with large proportions of resilin and various resilin functions have been described. Today, resilin is known to be responsible for the generation of deformability and flexibility in membrane and joint systems, the storage of elastic energy in jumping and catapulting systems, the enhancement of adaptability to uneven surfaces in attachment and prey catching systems, the reduction of fatigue and damage in reproductive, folding and feeding systems and the sealing of wounds in a traumatic reproductive system. In addition, resilin is present in many compound eye lenses and is suggested to be a very suitable material for optical elements because of its transparency and amorphousness. The evolution of this remarkable functional diversity can be assumed to have only been possible because resilin exhibits a unique combination of different outstanding properties.

Stiffness gradient of the beetle penis facilitates propulsion in the spiraled female spermathecal duct

It is well known that sexual selection is the main driving force of substantial diversity of genitalia found in animals. However, how it facilitates the diversity is still largely unknown, because genital morpho/physical features and motions/functional morphology of the structures in sexual intercourse are not linked for the vast majority of organisms. Here we showed the presence of material gradient and numerically studied an effect of stiffness gradient of the beetle penis during its propulsion through the female duct. We found that stiffness gradient on the penis essentially affects its propulsion. Microscopic investigation suggests the possibility that the tip of the hyper-elongated penis is softer than the rest of it, and our numerical model confirms that this type of distribution of stiffness gradient aids in faster propulsion than other types. This result indicates that previously ignored physical properties of genital materials are of crucial importance in evolutionary studies of genitalia.

The synergy between the insect-inspired claws and adhesive pads increases the attachment ability on various rough surfaces

To attach reliably on various inclined rough surfaces, many insects have evolved both claws and adhesive pads on their feet. However, the interaction between these organs still remains unclear. Here we designed an artificial attachment device, which mimics the structure and function of claws and adhesive pads, and tested it on stiff spheres of different dimensions. The results show that the attachment forces of claws decrease with an increase of the sphere radius. The forces may become very strong, when the sphere radius is smaller or comparable to the claw radius, because of the frictional self-lock. On the other hand, adhesive pads generate considerable adhesion on large sphere diameter due to large contact areas. The synergy effect between the claws and adhesive pads leads to much stronger attachment forces, if compared to the action of claw or adhesive pads independently (or even to the sum of both). The results carried out by our insect-inspired artificial attachment device clearly demonstrate why biological evolution employed two attachment organs working in concert. The results may greatly inspire the robot design, to obtain reliable attachment forces on various substrates.

Structure and function of the elastic organ in the tibia of a tenebrionid beetle

Many insects have a pair of claws on the tip of each foot (tarsus and pretarsus). The movement of the pretarsal claws is mediated by a long apodeme that originates from the claw retractor muscles in the femur. It is generally accepted that the pulling of the apodeme by the muscles flexes the claws to engage with a rough surface of a substrate, and the flexed claws return to their initial position by passive elastic forces within the tarso-pretarsal joint. We found that each tibia of the tenebrionid beetle Zophobas atratus had a chordal elastic organ that tied the apodeme to the distal end of the tibia and assisted the pulled apodeme to return smoothly. The elastic body of the elastic organ consists of a bundle of more than 1000 thin fibrils (0.3-1.5 μm in diameter) with a hairy yarn-shaped structure made by assemblies of intricately interwoven microfibers. Both ends of the fibrillar elastic body were supported by clusters of columnar cells. Ablation of the elastic organ often disturbed the rapid and smooth return of claws from a flexed position when the tarsal segments were forced to curve in order to increase the friction between the apodeme and surrounding tissues in the segments. The result suggests that rapid claw disengagement is an important step in each cycle of leg movements, and the elastic organ may have evolved to assist the reliable detachment of claws that engage tightly with the substrate when climbing or traversing inverted surfaces.

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300-800 ms by compressing their body 40-60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s(-1), despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion--"body-friction legged crawling" with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces.

Extreme positive allometry of animal adhesive pads and the size limits of adhesion-based climbing

Organismal functions are size-dependent whenever body surfaces supply body volumes. Larger organisms can develop strongly folded internal surfaces for enhanced diffusion, but in many cases areas cannot be folded so that their enlargement is constrained by anatomy, presenting a problem for larger animals. Here, we study the allometry of adhesive pad area in 225 climbing animal species, covering more than seven orders of magnitude in weight. Across all taxa, adhesive pad area showed extreme positive allometry and scaled with weight, implying a 200-fold increase of relative pad area from mites to geckos. However, allometric scaling coefficients for pad area systematically decreased with taxonomic level and were close to isometry when evolutionary history was accounted for, indicating that the substantial anatomical changes required to achieve this increase in relative pad area are limited by phylogenetic constraints. Using a comparative phylogenetic approach, we found that the departure from isometry is almost exclusively caused by large differences in size-corrected pad area between arthropods and vertebrates. To mitigate the expected decrease of weight-specific adhesion within closely related taxa where pad area scaled close to isometry, data for several taxa suggest that the pads' adhesive strength increased for larger animals. The combination of adjustments in relative pad area for distantly related taxa and changes in adhesive strength for closely related groups helps explain how climbing with adhesive pads has evolved in animals varying over seven orders of magnitude in body weight. Our results illustrate the size limits of adhesion-based climbing, with profound implications for large-scale bio-inspired adhesives.

Micro/nanostructured surfaces for self-powered and multifunctional electronic skins

We introduce recent advances in the design of bioinspired micro/nanostructures and 2D/3D structures for the enhancement of energy harvesting and multifunctional sensing properties of flexible electronic skins.

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

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

On Heels and Toes: How Ants Climb with Adhesive Pads and Tarsal Friction Hair Arrays

Ants are able to climb effortlessly on vertical and inverted smooth surfaces. When climbing, their feet touch the substrate not only with their pretarsal adhesive pads but also with dense arrays of fine hairs on the ventral side of the 3rd and 4th tarsal segments. To understand what role these different attachment structures play during locomotion, we analysed leg kinematics and recorded single-leg ground reaction forces in Weaver ants (Oecophylla smaragdina) climbing vertically on a smooth glass substrate. We found that the ants engaged different attachment structures depending on whether their feet were above or below their Centre of Mass (CoM). Legs above the CoM pulled and engaged the arolia ('toes'), whereas legs below the CoM pushed with the 3rd and 4th tarsomeres ('heels') in surface contact. Legs above the CoM carried a significantly larger proportion of the body weight than legs below the CoM. Force measurements on individual ant tarsi showed that friction increased with normal load as a result of the bending and increasing side contact of the tarsal hairs. On a rough sandpaper substrate, the tarsal hairs generated higher friction forces in the pushing than in the pulling direction, whereas the reverse effect was found on the smooth substrate. When the tarsal hairs were pushed, buckling was observed for forces exceeding the shear forces found in climbing ants. Adhesion forces were small but not negligible, and higher on the smooth substrate. Our results indicate that the dense tarsal hair arrays produce friction forces when pressed against the substrate, and help the ants to push outwards during horizontal and vertical walking.

Giant stick insects reveal unique ontogenetic changes in biological attachment devices

A strong modification of tarsal and pretarsal attachment pads during the postembryonic development is described for the first time. In the exceptionally large thorny devil stick insect Eurycantha calcarata a functional arolium is only present in the immature instars, enabling them to climb on smooth surfaces, especially leaves. Nymphs are also characterized by greyish and hairy euplantulae on tarsomeres 1-4. The gradual modifications of the arolium and the euplantula of tarsomere 5 in the nymphal development are probably mainly related to increased weight. The distinct switch in the life style between the leaf-dwelling nymphal stages and the ground-dwelling adults results in the final abrupt change of the adhesive devices, resulting in a far-reaching reduction of the arolium, the presence of a fully-developed, elongated euplantula on tarsomere 5, and white and smooth euplantulae on tarsomeres 1-4. The developmental remodelling of attachment pads also reflects a phylogenetic pattern. The attachment devices of the earlier instars are similar to those found in the basalmost lineage of extant stick insects, Timema, which is characterized by a very large pan-shaped arolium and a hairy surface of the tarsal and pretarsal attachment pads.

Locomotion and attachment of leaf beetle larvae Gastrophysa viridula (Coleoptera, Chrysomelidae)

While adult green dock leaf beetles Gastrophysa viridula use tarsal adhesive setae to attach to and walk on smooth vertical surfaces and ceilings, larvae apply different devices for similar purposes: pretarsal adhesive pads on thoracic legs and a retractable pygopod at the 10th abdominal segment. Both are soft smooth structures and capable of wet adhesion. We studied attachment ability of different larval instars, considering the relationship between body weight and real contact area between attachment devices and the substrate. Larval gait patterns were analysed using high-speed video recordings. Instead of the tripod gait of adults, larvae walked by swinging contralateral legs simultaneously while adhering by the pygopod. Attachment ability of larval instars was measured by centrifugation on a spinning drum, revealing that attachment force decreases relative to weight. Contributions of different attachment devices to total attachment ability were investigated by selective disabling of organs by covering them with melted wax. Despite their smaller overall contact area, tarsal pads contributed to a larger extent to total attachment ability, probably because of their distributed spacing. Furthermore, we observed different behaviour in adults and larvae when centrifuged: while adults gradually slipped outward on the centrifuge drum surface, larvae stayed at the initial position until sudden detachment.

The capillary adhesion technique: a versatile method for determining the liquid adhesion force and sample stiffness

We report a novel, practical technique for the concerted, simultaneous determination of both the adhesion force of a small structure or structural unit (e.g., an individual filament, hair, micromechanical component or microsensor) to a liquid and its elastic properties. The method involves the creation and development of a liquid meniscus upon touching a liquid surface with the structure, and the subsequent disruption of this liquid meniscus upon removal. The evaluation of the meniscus shape immediately before snap-off of the meniscus allows the quantitative determination of the liquid adhesion force. Concurrently, by measuring and evaluating the deformation of the structure under investigation, its elastic properties can be determined. The sensitivity of the method is remarkably high, practically limited by the resolution of the camera capturing the process. Adhesion forces down to 10 µN and spring constants up to 2 N/m were measured. Three exemplary applications of this method are demonstrated: (1) determination of the water adhesion force and the elasticity of individual hairs (trichomes) of the floating fern Salvinia molesta. (2) The investigation of human head hairs both with and without functional surface coatings (a topic of high relevance in the field of hair cosmetics) was performed. The method also resulted in the measurement of an elastic modulus (Young's modulus) for individual hairs of 3.0 × 10(5) N/cm(2), which is within the typical range known for human hair. (3) Finally, the accuracy and validity of the capillary adhesion technique was proven by examining calibrated atomic force microscopy cantilevers, reproducing the spring constants calibrated using other methods.

Positive force feedback in development of substrate grip in the stick insect tarsus

The mechanics of substrate adhesion has recently been intensively studied in insects but less is known about the sensorimotor control of substrate engagement. We characterized the responses and motor effects of tarsal campaniform sensilla in stick insects to understand how sensory signals of force could contribute to substrate grip. The tarsi consist of a chain of segments linked by highly flexible articulations. Morphological studies showed that one to four campaniform sensilla are located on the distal end of each segment. Activities of the receptors were recorded neurographically and sensilla were identified by stimulation and ablation of their cuticular caps. Responses were characterized to bending forces and axial loads, muscle contractions and to forces applied to the retractor apodeme (tendon). The tarsal sensilla effectively encoded both the rate and amplitude of loads and muscle forces, but only when movement was resisted. Mechanical stimulation of the receptors produced activation of motor neurons in the retractor unguis and tibial flexor muscles. These findings indicate that campaniform sensilla can provide information about the effectiveness of the leg muscles in generating substrate adherence. They can also produce positive force feedback that could contribute to the development of substrate grip and stabilization of the tarsal chain.