Slippery pores: anti-adhesive effect of nanoporous substrates on the beetle attachment system

Traction experiments with adult seven-spotted ladybird beetles Coccinella septempunctata (L.) were carried out to study the influence of surface structure on insect attachment. Force measurements were performed with tethered walking insects, both males and females, on five different substrates: (i) smooth glass plate, (ii) smooth solid Al₂O₃ (sapphire) disc, and (iii–v) porous Al₂O₃ discs (anodisc membranes) with the same pore diameter but different porosity. The traction force of beetles ranged from 0.16 to 16.59 mN in males and from 0.32 to 8.99 mN in females. In both sexes, the highest force values were obtained on smooth solid surfaces, where males showed higher forces than females. On all three porous substrates, forces were significantly reduced in both males and females, and the only difference within these surfaces was obtained between membranes with the highest and lowest porosity. Males produced essentially lower forces than females on porous samples. The reduction in insect attachment on anodisc membranes may be explained by (i) possible absorption of the secretion fluid from insect adhesive pads by porous media and/or (ii) the effect of surface roughness. Differences in attachment between males and females were probably caused by the sexual dimorphism in the terminal structure of adhesive setae.     

Insect wet steps: loss of fluid from insect feet adhering to a substrate

Reliable attachment ability of insect adhesive pads is proposed to be due to pad secretion. It has been shown that surface roughness strongly reduces adhesion forces of insect pads. This effect has been explained by decreased contact area and rapid fluid absorption from the pad surface by rough surfaces. However, it remains unclear how the fluid flows on rough substrates having different roughness parameters and surface energy. In this paper, we numerically studied the fluid flow on rough substrates during contact formation. The results demonstrate that an increase in the density of the substrate structures leads to an increase in fluid loss from the pad: substrates with a fine roughness absorb pad fluid faster. Decreased affinity of the solid substrate to the fluid has a more remarkable effect on the fluid loss and leads to a decrease in the fluid loss. With an increase in the aspect ratio of the substrate irregularities (porosity), the fluid loss is decreased. The numerical results obtained agree well with previous observations on insects and experimental results on nanoporous substrata. The significance of the obtained results for understanding biological wet adhesives is discussed.     

Mechanisms of fluid production in smooth adhesive pads of insects

Insect adhesion is mediated by thin fluid films secreted into the contact zone. As the amount of fluid affects adhesive forces, a control of secretion appears probable. Here, we quantify for the first time the rate of fluid secretion in adhesive pads of cockroaches and stick insects. The volume of footprints deposited during consecutive press-downs decreased exponentially and approached a non-zero steady state, demonstrating the presence of a storage volume. We estimated its size and the influx rate into it from a simple compartmental model. Influx was independent of step frequency. Fluid-depleted pads recovered maximal footprint volumes within 15 min. Pads in stationary contact accumulated fluid along the perimeter of the contact zone. The initial fluid build-up slowed down, suggesting that flow is driven by negative Laplace pressure. Freely climbing stick insects left hardly any traceable footprints, suggesting that they save secretion by minimizing contact area or by recovering fluid during detachment. However, even the highest fluid production rates observed incur only small biosynthesis costs, representing less than 1 per cent of the resting metabolic rate. Our results show that fluid secretion in insect wet adhesive systems relies on simple physical principles, allowing for passive control of fluid volume within the contact zone.     

Wet but not slippery: Boundary friction in tree frog adhesive toe pads.

Tree frogs are remarkable for their capacity to cling to smooth surfaces using large toe pads. The adhesive skin of tree frog toe pads is characterized by peg-studded hexagonal cells separated by deep channels into which mucus glands open. The pads are completely wetted with watery mucus, which led previous authors to suggest that attachment is solely due to capillary and viscous forces generated by the fluid-filled joint between the pad and the substrate. Here, we present evidence from single-toe force measurements, laser tweezer microrheometry of pad mucus and interference reflection microscopy of the contact zone in Litoria caerulea, that tree frog attachment forces are significantly enhanced by close contacts and boundary friction between the pad epidermis and the substrate, facilitated by the highly regular pad microstructure.     

Insect adhesion on rough surfaces: analysis of adhesive contact of smooth and hairy pads on transparent microstructured substrates

Insect climbing footpads are able to adhere to rough surfaces, but the details of this capability are still unclear. To overcome experimental limitations of randomly rough, opaque surfaces, we fabricated transparent test substrates containing square arrays of 1.4 µm diameter pillars, with variable height (0.5 and 1.4 µm) and spacing (from 3 to 22 µm). Smooth pads of cockroaches (Nauphoeta cinerea) made partial contact (limited to the tops of the structures) for the two densest arrays of tall pillars, but full contact (touching the substrate in between pillars) for larger spacings. The transition from partial to full contact was accompanied by a sharp increase in shear forces. Tests on hairy pads of dock beetles (Gastrophysa viridula) showed that setae adhered between pillars for larger spacings, but pads were equally unable to make full contact on the densest arrays. The beetles'' shear forces similarly decreased for denser arrays, but also for short pillars and with a more gradual transition. These observations can be explained by simple contact models derived for soft uniform materials (smooth pads) or thin flat plates (hairy-pad spatulae). Our results show that microstructured substrates are powerful tools to reveal adaptations of natural adhesives for rough surfaces.     

Extensive collection of femtolitre pad secretion droplets in the beetle Leptinotarsa decemlineata allows nanolitre microrheology

Pads of beetles are covered with long, deformable setae, each ending in a micrometric terminal plate coated with secretory fluid. It was recently shown that the layer of the pad secretion covering the terminal plates is responsible for the generation of strong attractive forces. However, less is known about the fluid itself because it is produced in an extremely small quantity. We present here the first experimental investigation of the rheological properties of the pad secretion in the Colorado potato beetle Leptinotarsa decemlineata (Coleoptera, Chrysomelidae). Because the secretion is produced in an extremely small amount at the level of the terminal plate, we first developed a procedure based on capillary effects to collect the secretion for rheological experiments. In order to study the collected fluid (less than 1 nl) through passive microrheology, we managed to incorporate micrometric probes (melamine beads) that were initially in the form of a dry powder. Finally, the bead thermal motions were observed optically and recorded to determine the mechanical properties of the surrounding medium. We achieved this quantitative measurement with the collected volume, which is much smaller than the usual 1 µl sample volume required for this technique. Surprisingly, the beetle secretion was found to behave as a purely viscous liquid, of high viscosity (about 100 times that of water). This suggests that no specific complex fluid behaviour is needed by this adhesive system during beetle locomotion. We describe a scenario for the contact formation between the spatula at the setal tip and a smooth substrate, during the insect walk. We show that the attachment dynamics of the insect pad computed from the high measured viscosity is in good agreement with the observed insect pace. We finally discuss the consequences of the viscosity of the secretion on the insect adhesion.     

Stick–slip friction of gecko-mimetic flaps on smooth and rough surfaces

The discovery and understanding of gecko ‘frictional-adhesion’ adhering and climbing mechanism has allowed researchers to mimic and create gecko-inspired adhesives. A few experimental and theoretical approaches have been taken to understand the effect of surface roughness on synthetic adhesive performance, and the implications of stick–slip friction during shearing. This work extends previous studies by using a modified surface forces apparatus to quantitatively measure and model frictional forces between arrays of polydimethylsiloxane gecko footpad-mimetic tilted microflaps against smooth and rough glass surfaces. Constant attachments and detachments occur between the surfaces during shearing, as described by an avalanche model. These detachments ultimately result in failure of the adhesion interface and have been characterized in this study. Stick–slip friction disappears with increasing velocity when the flaps are sheared against a smooth silica surface; however, stick–slip was always present at all velocities and loads tested when shearing the flaps against rough glass surfaces. These results demonstrate the significance of pre-load, shearing velocity, shearing distances, commensurability and shearing direction of gecko-mimetic adhesives and provide us a simple model for analysing and/or designing such systems.     

Surface contact and design of fibrillar ‘friction pads’ in stick insects (Carausius morosus): mechanisms for large friction coefficients and negligible adhesion

Many stick insects and mantophasmids possess tarsal ‘heel pads’ (euplantulae) covered by arrays of conical, micrometre-sized hairs (acanthae). These pads are used mainly under compression; they respond to load with increasing shear resistance, and show negligible adhesion. Reflected-light microscopy in stick insects (Carausius morosus) revealed that the contact area of ‘heel pads’ changes with normal load on three hierarchical levels. First, loading brought larger areas of the convex pads into contact. Second, loading increased the density of acanthae in contact. Third, higher loads changed the shape of individual hair contacts gradually from circular (tip contact) to elongated (side contact). The resulting increase in real contact area can explain the load dependence of friction, indicating a constant shear stress between acanthae and substrate. As the euplantula contact area is negligible for small loads (similar to hard materials), but increases sharply with load (resembling soft materials), these pads show high friction coefficients despite little adhesion. This property appears essential for the pads’ use in locomotion. Several morphological characteristics of hairy friction pads are in apparent contrast to hairy pads used for adhesion, highlighting key adaptations for both pad types. Our results are relevant for the design of fibrillar structures with high friction coefficients but small adhesion.     

Plant surfaces with cuticular folds are slippery for beetles

Plant surfaces covered with three-dimensional (3D) waxes are known to strongly reduce insect adhesion, leading to slippery surfaces. Besides 3D epicuticular waxes, cuticular folds are a common microstructure found on plant surfaces, which have not been quantitatively investigated with regard to their influence on insect adhesion. We performed traction experiments with Colorado potato beetles on five plant surfaces with cuticular folds of different magnitude. For comparison, we also tested (i) smooth plant surfaces and (ii) plant surfaces possessing 3D epicuticular waxes. Traction forces on surfaces with medium cuticular folds, of about 0.5 µm in both height and thickness and a spacing of 0.5–1.5 µm, were reduced by an average of 88 per cent in comparison to smooth plant surfaces. Traction forces were reduced by the same order of magnitude as on plant surfaces covered with 3D epicuticular waxes. For surface characterization, we performed static contact angle measurements, which proved a strong effect of cuticular folds also on surface wettability. Surfaces possessing cuticular folds of greater magnitude showed higher contact angles up to superhydrophobicity. We hypothesize that cuticular folds reduce insect adhesion mainly due to a critical roughness, reducing the real contact area between the surface and the insect''s adhesive devices.     

Effect of counterface roughness on adhesion of mushroom-shaped microstructure

In this study, the effect of the substrate roughness on adhesion of mushroom-shaped microstructure was experimentally investigated. To do so, 12 substrates having different isotropic roughness were prepared from the same material by replicating topography of different surfaces. The pull-off forces generated by mushroom-shaped microstructure in contact with the tested substrates were measured and compared with the pull-off forces generated by a smooth reference. It was found that classical roughness parameters, such as average roughness (R_a) and others, cannot be used to explain topography-related variation in pull-off force. This has led us to the development of an integrated roughness parameter capable of explaining results of pull-off measurements. Using this parameter, we have also found that there is a critical roughness, above which neither smooth nor microstructured surface could generate any attachment force, which may have important implications on design of both adhesive and anti-adhesive surfaces.     

More than just slippery: the impact of biofilm on the attachment of non-sessile freshwater mayfly larvae

While terrestrial insects can usually attach directly to a substrate, for aquatic insects the situation is more complicated owing to the presence of a biofilm on the primary substrates. This important fact has been neither the subject of investigation nor commonly taken into account in the interpretation of functional aspects of attachment in mobile freshwater animals. In this study, we investigate the impact of a biofilm on the attachment of living mayfly larvae. We performed in vivo attachment experiments in a flow channel using different substrates with defined surface roughness. Additionally, we measured friction forces directly generated by dissected tarsal claws on the same substrates. On substrates with smooth or slightly rough surfaces, which have little or no surface irregularities large enough for the claws to grasp, the presence of a biofilm significantly increases the friction force of claws. Consequently, larvae can endure higher flow velocities on these smooth substrates. The opposite effect takes place on rough substrates, where the friction force of claws decreases in the presence of a biofilm. Consequently, a biofilm is a critical ecological structure for these larvae, and other aquatic organisms, not only as a food source but also as a factor influencing attachment ability.     

Enhanced adhesion of plasma-sputtered copper films on polyimide substrates by oxygen glow discharge for microelectronics

Enhanced plasma-sputtered copper film adhesion onto polyimide substrates treated by oxygen glow discharge was investigated. The peel test demonstrates this improvement, with peel strengths of 0.7-1.2 g/mm for copper films prepared on un-modified polyimide substrates and 195.5-262.2 g/mm for copper films on oxygen plasma-modified polyimide substrates at certain plasma conditions. The enhanced adhesive strengths of plasma-sputtered copper films onto polyimide substrates by oxygen plasmas are due mainly to the increased surface energies of the polyimide substrates. Contact angle measurements indicate that the surface energies of polyimide substrates were greatly increased by oxygen plasmas. X-ray photoelectron spectroscopy analysis shows that the increased surface energies of polyimide substrates using oxygen plasmas occur because of the increased oxygen surface concentration and the increased C-O bond proportion.     

Vision-based flight control in the hawkmoth Hyles lineata

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata, and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths’ responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths’ responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight.     

Properties of neuronal facilitation that improve target tracking in natural pursuit simulations

Although flying insects have limited visual acuity (approx. 1°) and relatively small brains, many species pursue tiny targets against cluttered backgrounds with high success. Our previous computational model, inspired by electrophysiological recordings from insect ‘small target motion detector’ (STMD) neurons, did not account for several key properties described from the biological system. These include the recent observations of response ‘facilitation’ (a slow build-up of response to targets that move on long, continuous trajectories) and ‘selective attention’, a competitive mechanism that selects one target from alternatives. Here, we present an elaborated STMD-inspired model, implemented in a closed loop target-tracking system that uses an active saccadic gaze fixation strategy inspired by insect pursuit. We test this system against heavily cluttered natural scenes. Inclusion of facilitation not only substantially improves success for even short-duration pursuits, but it also enhances the ability to ‘attend’ to one target in the presence of distracters. Our model predicts optimal facilitation parameters that are static in space and dynamic in time, changing with respect to the amount of background clutter and the intended purpose of the pursuit. Our results provide insights into insect neurophysiology and show the potential of this algorithm for implementation in artificial visual systems and robotic applications.     

Built for rowing: frog muscle is tuned to limb morphology to power swimming

Rowing is demanding, in part, because drag on the oars increases as the square of their speed. Hence, as muscles shorten faster, their force capacity falls, whereas drag rises. How do frogs resolve this dilemma to swim rapidly? We predicted that shortening velocity cannot exceed a terminal velocity where muscle and fluid torques balance. This terminal velocity, which is below V_max, depends on gear ratio (GR = outlever/inlever) and webbed foot area. Perhaps such properties of swimmers are ‘tuned’, enabling shortening speeds of approximately 0.3V_max for maximal power. Predictions were tested using a ‘musculo-robotic’ Xenopus laevis foot driven either by a living in vitro or computational in silico plantaris longus muscle. Experiments verified predictions. Our principle finding is that GR ranges from 11.5 to 20 near the predicted optimum for rowing (GR ≈ 11). However, gearing influences muscle power more strongly than foot area. No single morphology is optimal for producing muscle power. Rather, the ‘optimal’ GR decreases with foot size, implying that rowing ability need not compromise jumping (and vice versa). Thus, despite our neglect of additional forces (e.g. added mass), our model predicts pairings of physiological and morphological properties to confer effective rowing. Beyond frogs, the model may apply across a range of size and complexity from aquatic insects to human-powered rowing.     

Use of biomimetic hexagonal surface texture in friction against lubricated skin

Smooth contact pads that evolved in insects, amphibians and mammals to enhance the attachment abilities of the animals'' feet are often dressed with surface micropatterns of different shapes that act in the presence of a fluid secretion. One of the most striking surface patterns observed in contact pads of these animals is based on a hexagonal texture, which is recognized as a friction-oriented feature capable of suppressing both stick–slip and hydroplaning while enabling friction tuning. Here, we compare this design of natural friction surfaces to textures developed for working in similar conditions in disposable safety razors. When slid against lubricated human skin, the hexagonal surface texture is capable of generating about twice the friction of its technical competitors, which is related to it being much more effective at channelling of the lubricant fluid out of the contact zone. The draining channel shape and contact area fraction are found to be the most important geometrical parameters governing the fluid drainage rate.     

具有不同黏附力Al-Mg-Si合金超疏水表面的制备与表征

基于位错刻蚀理论利用溶液浸泡处理A1-Mg-Si合金在其表面形成微观粗糙表面结构,采用自组装技术在此表面制备FDTS自组装分子膜.采用X射线衍射仪、扫描电子显微镜和表面粗糙度仪对试样表面形貌进行了表征;采用接触角测量仪对试样表面接触角进行了测量.结果表明,试样经溶液浸泡处理和沉积自组装分子膜后,其表面润湿性实现了由亲水到超亲水再到超疏水的转变;改变溶液浸泡时间得到具有不同微观结构的表面,沉积自组装分子膜后得到的超疏水表面具有不同的滚动接触角,其表面黏附力具有明显差异.分析认为,超疏水表面的获得是溶液浸泡处理得到的粗糙表面结构和低表面能物质FDTS自组装分子膜共同作用的结果;表面黏附力的差异是试样表面微观形貌的不同造成水滴在其表面所处状态的差异引发的.     

A new twist on gyroscopic sensing: body rotations lead to torsion in flapping,flexing insect wings

Insects perform fast rotational manoeuvres during flight. While two insect orders use flapping halteres (specialized organs evolved from wings) to detect body dynamics, it is unknown how other insects detect rotational motions. Like halteres, insect wings experience gyroscopic forces when they are flapped and rotated and recent evidence suggests that wings might indeed mediate reflexes to body rotations. But, can gyroscopic forces be detected using only changes in the structural dynamics of a flapping, flexing insect wing? We built computational and robotic models to rotate a flapping wing about an axis orthogonal to flapping. We recorded high-speed video of the model wing, which had a flexural stiffness similar to the wing of the Manduca sexta hawkmoth, while flapping it at the wingbeat frequency of Manduca (25 Hz). We compared the three-dimensional structural dynamics of the wing with and without a 3 Hz, 10° rotation about the yaw axis. Our computational model revealed that body rotation induces a new dynamic mode: torsion. We verified our result by measuring wing tip displacement, shear strain and normal strain of the robotic wing. The strains we observed could stimulate an insect''s mechanoreceptors and trigger reflexive responses to body rotations.     

A semi-empirical model of the aerodynamics of manoeuvring insect flight

Blade element modelling provides a quick analytical method for estimating the aerodynamic forces produced during insect flight, but such models have yet to be tested rigorously using kinematic data recorded from free-flying insects. This is largely because of the paucity of detailed free-flight kinematic data, but also because analytical limitations in existing blade element models mean that they cannot incorporate the complex three-dimensional movements of the wings and body that occur during insect flight. Here, we present a blade element model with empirically fitted aerodynamic force coefficients that incorporates the full three-dimensional wing kinematics of manoeuvring Eristalis hoverflies, including torsional deformation of their wings. The two free parameters were fitted to a large free-flight dataset comprising N = 26 541 wingbeats, and the fitted model captured approximately 80% of the variation in the stroke-averaged forces in the sagittal plane. We tested the robustness of the model by subsampling the data, and found little variation in the parameter estimates across subsamples comprising 10% of the flight sequences. The simplicity and generality of the model that we present is such that it can be readily applied to kinematic datasets from other insects, and also used for the study of insect flight dynamics.     

Geckoprinting: assembly of microelectronic devices on unconventional surfaces by transfer printing with isolated gecko setal arrays

Developing electronics in unconventional forms provides opportunities to expand the use of electronics in diverse applications including bio-integrated or implanted electronics. One of the key challenges lies in integrating semiconductor microdevices onto unconventional substrates without glue, high pressure or temperature that may cause damage to microdevices, substrates or interfaces. This paper describes a solution based on natural gecko setal arrays that switch adhesion mechanically on and off, enabling pick and place manipulation of thin microscale semiconductor materials onto diverse surfaces including plants and insects whose surfaces are usually rough and irregular. A demonstration of functional ‘geckoprinted’ microelectronic devices provides a proof of concept of our results in practical applications.