Gecko-inspired Adhesives Research Articles

Gecko-inspired adhesion enhanced by electroadhesive forces

Abstract Soft robotic manipulators have been increasingly adopted over the last decade due to their passive conformation to the shapes of objects, which can reduce control complexity. The performance of these grippers can be improved using flexible adhesive skins that increase tactile gripping forces, which is particularly important when grasping delicate objects and flexible substrates that are otherwise difficult to manipulate. In this work, we investigate how passive gecko-inspired fibrillar adhesion can be augmented by actively controlled electroadhesion (EA). The passive gecko-inspired outer skin (GS) enables adhesion with no power consumption while EA is controlled with an applied voltage. A numerical finite-element model is used to investigate how EA is affected by a commercially available gecko-inspired skin. The results show that the dielectric properties of the gecko-inspired skin reduce the magnitude of field intensity on the adhesive contact surface by only 2.1% at 3 kV. Compared with GS alone, EA with gecko-inspired skin (EAGS) increases the shear force by 66.8% and the normal force by 53.7% with an applied voltage of 4 kV. It is shown that the gecko skin’s adhesion force is enhanced by increased engagement of the fibrillar microstructure to object surfaces due to EA. This is experimentally demonstrated using frustrated total internal reflection imaging. This work shows that electroadhesive-enhanced gecko-inspired skin generates a greater adhesive force than the sum of forces from the separate gecko-inspired skin and EA. In this way, electrically controllable and passive adhesion mechanisms can be combined to improve the handling of flexible and delicate objects with smooth or rough surfaces.

A novel methodology for intrinsic adhesion state sensing in gecko-inspired directional dry adhesives

This paper introduces an innovative methodology designed for intrinsic sensing of the adhesion state in directional dry adhesives. Rooted in the inherent shear actuation requirements of these adhesives, the sensing framework incorporates an elastic beam model for a single seta and an equivalent spring model for setae arrays during actuation, facilitating the transformation of complex micro-scale contact issues into relatively simple mechanical measurements. Using microwedge adhesives as a representative case study, the methodology is validated by a series of quantitative experiments and an experimental robotic gripper scenario, in which a straightforward and cost-effective commercial strain gauge proves competent for complex contact state sensing. The proposed methodology indicates substantial implications for improving the operational performance and expanding the application range of gecko-inspired adhesive operations.

Democratising dry adhesion development with consumer-grade AM

AbstractThe production of reusable gecko-inspired dry adhesives has traditionally been done with complex nanofabrication methods such as lithography and PDMS casting. This article presents a way of producing and testing dry adhesive samples using consumer-grade AM machines and equipment typically available in a Makerspace. The samples produced exhibit adhesive properties depending on the preload and surface structure, and we conclude that consumer-grade AM is suitable for rapid prototyping and testing of dry adhesion. However, it is limited by the scale and accuracy compared to traditional methods.

Multiscale Synergistic Gecko-Inspired Adhesive for Stable Adhesion under Varying Preload and Surface Roughness.

Inspired by geckos, fibrillar microstructures hold great promise as controllable and reversible adhesives in the engineering field. However, enhancing the adhesion strength and stability of gecko-inspired adhesives (GIAs) under complex real-world contact conditions, such as rough surfaces and varying force fields, is crucial for its commercialization, yet further research is lacking. Here, we propose a hierarchically designed GIA, which features a silicone foam (SF) backing layer and a film-terminated fibrillar microstructure under a subtle multiscale design. This structure has been proven to have a "multiscale synergistic effect", allowing the material to maintain strong and stable adhesion to surfaces with changing normal pressures and roughness. Specifically, under a high load, the adhesive strength is 2 times more than that of conventional GIA, and it is 1.5 times stronger on rough surfaces compared to conventional GIA. Under high pressure and high surface roughness simultaneously, the adhesive strength is 3.3 times higher compared to conventional GIA. Our research demonstrates that the synergistic effect of multiscale biomimetic adhesion structures is highly effective in enhancing the adhesive strength of GIA under some harsh contact conditions.

Gecko-Inspired Controllable Adhesive: Structure, Fabrication, and Application.

The gecko can achieve flexible climbing on various vertical walls and even ceilings, which is closely related to its unique foot adhesion system. In the past two decades, the mechanism of the gecko adhesion system has been studied in-depth, and a verity of gecko-inspired adhesives have been proposed. In addition to its strong adhesion, its easy detachment is also the key to achieving efficient climbing locomotion for geckos. A similar controllable adhesion characteristic is also key to the research into artificial gecko-inspired adhesives. In this paper, the structures, fabrication methods, and applications of gecko-inspired controllable adhesives are summarized for future reference in adhesive development. Firstly, the controllable adhesion mechanism of geckos is introduced. Then, the control mechanism, adhesion performance, and preparation methods of gecko-inspired controllable adhesives are described. Subsequently, various successful applications of gecko-inspired controllable adhesives are presented. Finally, future challenges and opportunities to develop gecko-inspired controllable adhesive are presented.

Dynamically reprogrammable stiffness in gecko-inspired laminated structures

Adaptive structures are of interest for their ability to dynamically modify mechanical properties post fabrication, enabling structural performance that is responsive to environmental uncertainty and changing loading conditions. Dynamic control of stiffness is of particular importance as a fundamental structural property, impacting both static and dynamic structural performance. However, existing technologies necessitate continuous power to maintain multiple stiffness states or couple stiffness modulation to a large geometric reconfiguration. In this work, reversible lamination of stiff materials using gecko-inspired dry adhesives is leveraged for bending stiffness control. All stiffness states are passively maintained, with electrostatic or magnetic actuation applied for ∼1 s to reprogram stiffness. We demonstrate hinges with up to four passively maintained reprogrammable states decoupled from any shape reconfiguration. Design guidelines are developed for maximizing stiffness modulation. Experimentally, the proposed method achieved a stiffness modulation ratio of up to 14.4, with simulations showing stiffness modulation ratios of at least 73.0. It is anticipated that the stiffness reprogramming method developed in this work will reduce energy requirements and design complexity for adaptation in aerospace and robotics applications.

Femtosecond Laser Direct Writing of Gecko-Inspired Switchable Adhesion Interfaces on a Flexible Substrate.

Biomimetic switchable adhesion interfaces (BSAIs) with dynamic adhesion states have demonstrated significant advantages in micro-manipulation and bio-detection. Among them, gecko-inspired adhesives have garnered considerable attention due to their exceptional adaptability to extreme environments. However, their high adhesion strength poses challenges in achieving flexible control. Herein, we propose an elegant and efficient approach by fabricating three-dimensional mushroom-shaped polydimethylsiloxane (PDMS) micropillars on a flexible PDMS substrate to mimic the bending and stretching of gecko footpads. The fabrication process that employs two-photon polymerization ensures high spatial resolution, resulting in micropillars with exquisite structures and ultra-smooth surfaces, even for tip/stem ratios exceeding 2 (a critical factor for maintaining adhesion strength). Furthermore, these adhesive structures display outstanding resilience, enduring 175% deformation and severe bending without collapse, ascribing to the excellent compatibility of the micropillar's composition and physical properties with the substrate. Our BSAIs can achieve highly controllable adhesion force and rapid manipulation of liquid droplets through mechanical bending and stretching of the PDMS substrate. By adjusting the spacing between the micropillars, precise control of adhesion strength is achieved. These intriguing properties make them promising candidates for various applications in the fields of microfluidics, micro-assembly, flexible electronics, and beyond.

Examination of gecko-inspired dry adhesives for heritage conservation as an example of iterative design and testing process for new adhesives

AbstractRarely within the conservation of cultural heritage have conservation professionals been lucky enough to have materials custom-designed to meet their requirements. Most of the time the field must adapt solutions developed for other applications. The research presented here was initiated as part of a long-term aim to develop new adhesives for heritage conservation. Gecko-inspired dry adhesives (GDAs) are polymer tapes with micropatterns that are based on the adhesive properties of the pads of gecko lizard feet: they have strong normal and shear adhesion with low peel adhesion. They present potentially versatile and reversible adhesives for heritage conservation applications; which do not require solvents for activation or for removal, and do not migrate or off-gas. In nature, geckos can adhere with their feet to any surface they walk on. This is possible because of micro- and nanostructures on their feet that attach to surface via van der Waals forces. Practical studies aimed at comprehensively assessing their properties, and biomimetic solutions in heritage conservation are still sparse at present. This research has the objective of assessing GDAs properties by mechanical testing of adhesive joints, as well as physical and chemical characterisation of the materials used. The research has also included a museum case study and a two-year natural ageing test. The testing has shown that the GDAs can perform very well as an adhesive patch on the reverse of gelatine-based photographs, achieving shear forces between 0.80 N and 48.10 N on 8 cm2 lap joints (depending on the type of the GDA) and peel forces between 0.20 N and 0.47 N over 2 cm of peel front. This is lower than forces exceeding 1 N recorded in widely available pressure-sensitive tapes. This shows that GDAs may have the potential of a sufficiently strong, yet easily removable adhesive that works well on materials widely present in museum collections.

Gecko adhesion based sea star crawler robot.

Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25° slopes and hold on statically to 51° slopes.

Gecko-inspired self-adhesive packaging for strain-free temperature sensing based on optical fibre Bragg gratings

The large development of fibre Bragg gratings (FBGs) over decades has made this kind of structures one of the most mature optical fibre sensing technologies existing today, demonstrating key features for a very wide range of applications. FBG sensors are fragile and must be normally protected for real-field applications, although challenging packaging designs are required to mitigate temperature-strain cross-sensitivity issues. Here, a polydimethylsiloxane (PDMS) packaging with a microarray structure that provides gecko-inspired dry adhesion is proposed for strain-free FBG-based temperature sensing. Besides offering protection, the PDMS packaging with an embedded polyamide capillary damps the mechanical strain transferred to the optical fibre, providing FBG-based temperature sensing with a negligible impact of strain. In addition, the microarray structure imprinted on one surface of the packaging provides gecko-inspired dry adhesion based on van der Waals forces. This feature enables the packaged optical fibre sensor to be attached and detached dynamically to nearly any kind of smooth surface, leaving no residuals in the monitored structure. Experimental results verify a fast and accurate temperature response of the sensor with highly mitigated impact of residual strain. The proposed packaged sensor can be used in application where glue is not allowed nor recommendable to be used.

Gecko-Inspired Adhesive Mechanisms and Adhesives for Robots—A Review

Small living organisms such as lizards possess naturally built functional surface textures that enable them to walk or climb on versatile surface topographies. Bio-mimicking the surface characteristics of these geckos has enormous potential to improve the accessibility of modern robotics. Therefore, gecko-inspired adhesives have significant industrial applications, including robotic endoscopy, bio-medical cleaning, medical bandage tapes, rock climbing adhesives, tissue adhesives, etc. As a result, synthetic adhesives have been developed by researchers, in addition to dry fibrillary adhesives, elastomeric adhesives, electrostatic adhesives, and thermoplastic adhesives. All these adhesives represent significant contributions towards robotic grippers and gloves, depending on the nature of the application. However, these adhesives often exhibit limitations in the form of fouling, wear, and tear, which restrict their functionalities and load-carrying capabilities in the natural environment. Therefore, it is essential to summarize the state of the art attributes of contemporary studies to extend the ongoing work in this field. This review summarizes different adhesion mechanisms involving gecko-inspired adhesives and attempts to explain the parameters and limitations which have impacts on adhesion. Additionally, different novel adhesive fabrication techniques such as replica molding, 3D direct laser writing, dip transfer processing, fused deposition modeling, and digital light processing are encapsulated.

Design of a Variable Stiffness Gecko-Inspired Foot and Adhesion Performance Test on Flexible Surface.

Adhesion robots have broad application prospects in the field of spacecraft inspection, repair, and maintenance, but the stable adhesion and climbing on the flexible surface covering the spacecraft has not been achieved. The flexible surface is easily deformed when subjected to external force, which makes it difficult to ensure a sufficient contact area and then detach from it. To achieve stable attachment and easy detachment on the flexible surface under microgravity, an adhesion model is established based on the applied adhesive material, and the relationship between peeling force and the rigidity of the base material, peeling angle, and working surface stiffness is obtained. Combined with the characteristics of variable stiffness structure, the adhesion and detachment force of the foot is asymmetric. Inspired by the adhesion-detachment mechanism of the foot of the gecko, an active adhesion-detachment control compliant mechanism is designed to achieve the stable attachment and safe detachment of the foot on the flexible surface and to adapt to surfaces with different rigidity. The experimental results indicate that a maximum normal adhesion force of 7.66 N can be generated when fully extended, and the safe detachment is achieved without external force on a flexible surface. Finally, an air floating platform is used to build a microgravity environment, and the crawling experiment of a gecko-inspired robot on a flexible surface under microgravity is completed. The experimental results show that the gecko-inspired foot with variable stiffness can satisfy the requirements of stable crawling on flexible surfaces.

Testing Gecko-Inspired Adhesives With Astrobee Aboard the International Space Station: Readying the Technology for Space

Gecko-inspired adhesives can allow free-flying space robots to grasp and manipulate large items or anchor themselves on smooth surfaces. In this article, we report on the first tests conducted using gecko-inspired adhesives on a gripper attached to an Astrobee free-flying robot operating inside the International Space Station (ISS). We present results from on-ground testing as well as two on-orbit sessions conducted during early 2021. Recorded data demonstrated that an adhesive gripper for Astrobee could provide 3.15 N of force for manual perching. The adhesives functioned as anticipated, despite a lengthy storage period. The results also highlighted some considerations for future adhesive gripping in space with free-flying robots. We discuss these topics along with system design considerations for successful implementation aboard the ISS, raising the readiness of this technology for a space-grade environment.

Gecko-Inspired Adhesives with Asymmetrically Tilting-Oriented Micropillars.

The anisotropic adhesion behavior of the gecko is closely related to their feet and is comprised of keratinous hairs, setae, where van der Waals forces permit attachment and detachment during locomotion. Previous research either achieved only isotropic adhesion behaviors or involved the complicated photolithography method. Here, we reported a simple way to achieve the anisotropic adhesion behaviors of gecko-inspired adhesives, consisting of micropillars with asymmetrically tilted orientation via the 3D printing technique. The adhesive forces of structured polymer pillars achieved 4-fold stronger, compared to controls with the plain surface. The anisotropic adhesion behavior is presented on the patterned surface and is two times stronger along the gripping direction compared to the releasing direction on the adhesives, which is attributed to the asymmetric stress distributions at the edges, as well as the stresses resulting from the moment with the sheared top. The finite element analysis is applied to demonstrate the stress distributions and displacement variations. This work provides the insight into the design and fabrication of gecko-inspired adhesives with anisotropic adhesion behaviors in practical applications.

Viko 2.0: A Hierarchical Gecko-Inspired Adhesive Gripper With Visuotactile Sensor

Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force. While hierarchical gecko-inspired adhesives are a potential technique for bridging performance gaps, they require a large contact area for efficient usage. In this work, we present a new version of an adaptive gecko gripper called <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Viko</i> 2.0 that effectively combines the advantage of adhesives and visuotactile sensors. Compared with a non-hierarchical structure, a hierarchical structure with a multi-material design achieves approximately a 1.5 times increase in normal adhesion and double in contact area. The integrated visuotactile sensor captures a deformation image of the hierarchical structure and provides a real-time measurement of contact area, shear force, and incipient slip detection at 24 Hz. The gripper is implemented on a robotic arm to demonstrate an adaptive grasping pose based on contact area, and grasps objects with a wide range of geometries and textures.

The Comparative approach to bio-inspired design: integrating biodiversity and biologists into the design process.

Biodiversity provides a massive library of ideas for bio-inspired design, but the sheer number of species to consider can be daunting. Current approaches for sifting through biodiversity to identify relevant biological models include searching for champion adapters that are particularly adept at solving a particular design challenge. While the champion adapter approach has benefits, it tends to focus on a narrow set of popular models while neglecting the majority of species. An alternative approach to bio-inspired design is the comparative method, which leverages biodiversity by drawing inspiration across a broad range of species. This approach uses methods in phylogenetics to map traits across evolutionary trees and compare trait variation to infer structure-function relationships. Although comparative methods have not been widely used in bio-inspired design, they have led to breakthroughs in studies on gecko-inspired adhesives and multifunctionality of butterfly wing scales. Here we outline how comparative methods can be used to complement existing approaches to bioinspired design, and we provide an example focused on bio-inspired lattices, including honeycomb and glass sponges. We demonstrate how comparative methods can lead to breakthroughs in bio-inspired applications as well as answer major questions in biology, which can strengthen collaborations with biologists and produce deeper insights into biological function.

Gecko-inspired dry adhesives for heritage conservation – tackling the surface roughness with empirical testing and finite element modelling

Gecko-inspired dry adhesives (GDAs) have been developed in an attempt to replicate in polymer material the natural ability of some gecko lizards to attach to nearly any surface. Geckos achieve this with nano-sized structures on their feet that facilitate van der Waals's interactions with the surfaces. The conservation of cultural heritage is an area that could benefit greatly from the introduction of a versatile and easily reversible adhesive. However, the multitude of surface types and various surface textures encountered in this field make the adaptation of GDAs difficult. In this research two types of GDAs, with flat tips and with mushroom-shaped tips have been assessed using pull-off tests on three substrate materials. These are based on real heritage objects’ surfaces (copper and ceramic) with different levels of surface roughness from The Hunterian collection. Adhesive strength varied between different GDAs and as expected adhesive strength reduced with increased substrate roughness. The finite Element Modelling (FEM) of the pull-off tests closely matched empirical results and showed how different behaviours on the microlevel can affect the GDA behaviour on rough surfaces. It helped to understand the microscale behaviour of two different types of GDAs tested. The research has shown the necessary direction for experimental and theoretical research on GDAs which will enable them to be adopted more widely in heritage conservation.

From grasping to manipulation with gecko-inspired adhesives on a multifinger gripper.

Anthropomorphic robotic manipulators have high grasp mobility and task flexibility but struggle to match the practical strength of parallel jaw grippers. Gecko-inspired adhesives are a promising technology to span that gap in performance, but three key principles must be maintained for their efficient usage: high contact area, shear load sharing, and evenly distributed normal stress. This work presents an anthropomorphic end effector that combines those adhesive principles with the mobility and stiffness of a multiphalange, multifinger design. Adhesive suspensions use buckling ribs to deliver shear load sharing and normal compliance in a deployable form factor. We use an elastic foundation model and fundamentals of grasping theory to motivate kinematic changes when shifting from Coulomb friction to adhesive manipulation. These design considerations integrate with the necessary control infrastructure in a prototype called farmHand, on which we perform tests to confirm shear load sharing and demonstrate adhesive use in manipulation beyond pick and place grasping.

Load Sharing Design of a Multi-legged Adaptable Gripper With Gecko-Inspired Controllable Adhesion

Gecko-inspired controllable dry adhesion has promising applications in various fields such as transfer printing, advanced robotics, and space technology. In this study, we proposed a multi-legged self-adaptive gripper based on gecko-inspired controllable adhesion to manipulate both flat and curved objects. It consists of four symmetric adhesive units, each modulated by two adaptive-locking mechanisms for compression and rotation, respectively, and one peeling mechanism. The two adaptive-locking mechanisms adapt to surfaces with height and curvature differences to ensure intimate contact and then lock the adaption configuration to enable equal load sharing for strong attachment. The peeling mechanism rapidly peels the adhesive surfaces from the substrate for easy detachment. Therefore, this gripper can achieve controllable load sharing to reliably grasp and easily release smooth objects with various surface shapes. Furthermore, the effects of object posture and structural parameters on its grasping performance were analyzed, which can guide its optimal design by improving equal load sharing among adhesive units. This work provides an equal load-sharing strategy for multi-unit adhesive system design and demonstrates its potential for emerging industrial applications.

Self-Cleaning Performance of the Micropillar-Arrayed Surface and Its Micro-Scale Mechanical Mechanism

The exceptional adhesive ability of geckos remains almost uninfluenced by contaminated surfaces, showing that the adhesion system of geckos has self-cleaning properties. Although there have been several studies on the self-cleaning performance of geckos and gecko-inspired synthetic adhesives, the microscale mechanical mechanism of self-cleaning is still unclear. In the present study, a micropillar-arrayed surface is fabricated using a template molding method to investigate its self-cleaning performance in a load-pull contact process. The effects of preload, microparticle size on self-cleaning properties are studied. The self-cleaning efficiency of the micropillar-arrayed surface is found to increase with an increase in the microparticle size. For large and small microparticles, self-cleaning efficiency increases with an increase in the preload. For medium microparticles, self-cleaning efficiency first increases and then decreases as the preload increases. The mechanical mechanism underlying such self-cleaning performance is further elucidated; it is mainly attributed to the competition among the elastic energy stored in the micropillars induced by the bending deformation, the interfacial adhesion energy between the microparticles and the deformed micropillars, and the interfacial adhesion energy between the microparticles and substrate, as well as the varying contact states between the microparticles and the deformed micropillars. The preload can not only change the contact states between the microparticles and the micropillar-arrayed surface but also influence the bending elastic energy stored in the micropillars. The results obtained in the present study can help deeply understand the self-cleaning mechanism of micropillar-arrayed surfaces as well as provide a guideline for designing functional surfaces with high self-cleaning efficiency.