ArticleBiomimetics (Basel, Switzerland)2023
Reversible Adhesive Bio-Toe with Hierarchical Structure Inspired by Gecko.
Article in Biomimetics (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 12 citations in OpenAlex.
- Design of a Modular Wall-Climbing Robot with Multi-Plane Transition and Cleaning Capabilities.Biomimetics (Basel, Switzerland) · 2025Article
- Controlled Dry Adhesion of Bio-Inspired Fibrillar Polymers: Mechanics, Strategies, and Recent Advances.Materials (Basel, Switzerland) · 2025Review
- A Worm-like Soft Robot Based on Adhesion-Controlled Electrohydraulic Actuators.Biomimetics (Basel, Switzerland) · 2024Article
- Gecko-Inspired Controllable Adhesive: Structure, Fabrication, and Application.Biomimetics (Basel, Switzerland) · 2024Review
- Bioinspired Rigid-Flexible Coupled Adaptive Compliant Motion Control of Robot Gecko for Space Stations.Biomimetics (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
6 authors at 1 institution in 1 country.
Funding
Abstract
The agile locomotion of adhesive animals is mainly attributed to their sophisticated hierarchical feet and reversible adhesion motility. Their structure-function relationship is an urgent issue to be solved to understand biologic adhesive systems and the design of bionic applications. In this study, the reversible adhesion/release behavior and structural properties of gecko toes were investigated, and a hierarchical adhesive bionic toe (bio-toe) consisting of an upper elastic actuator as the supporting/driving layer and lower bionic lamellae (bio-lamellae) as the adhesive layer was designed, which can adhere to and release from targets reversibly when driven by bi-directional pressure. A mathematical model of the nonlinear deformation and a finite element model of the adhesive contact of the bio-toe were developed. Meanwhile, combined with experimental tests, the effects of the structure and actuation on the adhesive behavior and mechanical properties of the bio-toe were investigated. The research found that (1) the bending curvature of the bio-toe, which is approximately linear with pressure, enables the bio-toe to adapt to a wide range of objects controllably; (2) the tabular bio-lamella could achieve a contact rate of 60% with a low squeeze contact of less than 0.5 N despite a ±10° tilt in contact posture; (3) the upward bending of the bio-toe under negative pressure provided sufficient rebounding force for a 100% success rate of release; (4) the ratio of shear adhesion force to preload of the bio-toe with tabular bio-lamellae reaches approximately 12, which is higher than that of most existing adhesion units and frictional gripping units. The bio-toe shows good adaptability, load capacity, and reversibility of adhesion when applied as the basic adhesive unit in a robot gripper and wall-climbing robot. Finally, the proposed reversible adhesive bio-toe with a hierarchical structure has great potential for application in space, defense, industry, and daily life.
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