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

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

Tuning the Morphology of Suction Discs to Enable Directional Adhesion for Locomotion in Wet Environments.

Reversible adhesion provides robotic systems with unique capabilities, including wall climbing and walking underwater, and yet the control of adhesion continues to pose a challenge. Directional adhesives have begun to address this limitation by providing adhesion when loaded in one direction and releasing easily when loaded in the opposite direction. However, previous work has focused on directional adhesives for dry environments. In this work, we sought to address this need for directional adhesives for use in a wet environment by tuning the morphology of suction discs to achieve anisotropic adhesion. We developed a suction disc that exhibited significant directional preference in attachment and detachment without requiring active control. The suction discs exhibited morphological computation-that is, they were programmed based on their geometry and material properties to detach under specific angles of loading. We investigated two design parameters-disc symmetry and slits within the disc margin-as mechanisms to yield anisotropic adhesion, and through experimental characterizations, we determined that an asymmetric suction disc most consistently provided directional adhesion. We performed a parametric sweep of material stiffness to optimize for directional adhesion and found that the material composition of the suction disc demonstrated the ability to override the effect of body asymmetry on achieving anisotropic adhesion. We modeled the stress distributions within the different suction disc symmetries using finite element analysis, yielding insights into the differences in contact pressures between the variants. We experimentally demonstrated the utility of the suction discs in a simulated walking gait using linear actuators as one potential application of the directional suction disc.

Toward Bioinspired Wet Adhesives: Lessons from Assessing Surface Structures of the Suction Disc of Intertidal Clingfish.

The clingfish attaches to rough surfaces with considerable strength using an intricate suction disc, which displays complex surface geometries from structures called papillae. However, the exact role of these structures in adhesion is poorly understood. To investigate the relationship between papillae geometry and adhesive performance, we developed an image processing tool that analyzed the surface and structural complexity of papillae, which we then used to model hydrodynamic adhesion. Our tool allowed for the automated analysis of thousands of papillae in specimens across a range of body sizes. The results led us to identify spatial trends in papillae across the complex geometry of the suction disc and to establish fundamental structure-function relationships used in hydrodynamic adhesion. We found that the surface area of papillae changed within a suction disc and with fish size, but that the aspect ratios and channel width between papillae did not. Using a mathematical model, we found that the surface structures can adhere considerably when subjected to disturbances of moderate to high velocities. We concluded that a predominant role of the papillae is to leverage hydrodynamic adhesion and wet friction to reinforce the seal of the suction disc. Overall, the trends in papillae characteristics provided insights into bioinspired designs of surface microstructures for future applications in which adhesion is necessary to attach to diverse surfaces (in terrestrial or aquatic environments), even when subjected to disturbance forces of randomized directionality.

Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc.

Adhesion is difficult to achieve on rough surfaces both in air and underwater. In nature, the northern clingfish (Gobiesox maeandricus) has evolved the impressive ability to adhere onto substrates of various shapes and roughnesses, while subject to strong intertidal surges. The suction disc of the clingfish relies on suction and friction to achieve and maintain adhesion. Inspired by this mechanism of attachment, we designed an artificial suction disc and evaluated its adhesive stress on rough surfaces and non-planar geometries. The artificial suction disc achieved adhesion strengths of 10.1 ± 0.3 kPa in air on surfaces of moderate roughness (grain size, 68 µm), and 14.3 ± 1.5 kPa underwater on coarse surfaces (grain size, 269 µm). By comparison, a commercially available suction cup failed to exhibit any significant adhesion in both scenarios. The roughly 2 g heavy clingfish-inspired suction discs gripped concave surfaces with small radii of curvature (12.5 mm) and supported payloads up to 0.7 kg. We correlated the effect of key bioinspired features (i.e. slits, a soft outer layer, and body geometry) to adhesion performance using contact visualization techniques and finite element analysis (FEA). The suction discs were then tested on a remotely operated vehicle (ROV) to demonstrate their utility in the soft manipulation of fragile objects.