Bio-Inspired Design - 11. Biomotion Bioclamping part2 OCW
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Transcript of Bio-Inspired Design - 11. Biomotion Bioclamping part2 OCW
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Bio-Inspired DesignWb2436-05
Biosticking – Part 1
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What is adhesion?Compensate forces from the environment
with the aim to
stay, or transposemove,
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What is adhesion?stay
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What is adhesion?move
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What is adhesion?transpose
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Ideas from nature
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What is adhesion?
Solid intermediate layer Liquid intermediate layer
Shape gripElectrostaticVan der Waals Friction grip Suction
Adhesion without an intermediate layer
Adhesion with an intermediate layer
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Adhesion with an intermediate layer
Liquid intermediate layer
Shape gripElectrostaticVan der Waals Friction grip Suction
Adhesion without an intermediate layer
What is adhesion?
Solid intermediate layer
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Adhesion with a solid interlayer
TraditionalTissue adhesives
Bioinspired: Mussel Mytilus edulis
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Adhesion with a solid interlayer
TraditionalTissue adhesives
Waite. J Int J Adhesion & Adhesives 7 (1987) 9-14
Four pathways by which water undermines the performance of adhesive bonds
Bioinspired: Mussel Mytilus edulis
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Bioinspired: Mussel Mytilus edulis
Adhesion with a solid interlayer
TraditionalTissue adhesives
amino acid L-3, 4- dihydroxy-phenylalanine (DOPA)
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Bioinspired: Mussel Mytilus edulis
Adhesion with a solid interlayer
TraditionalTissue adhesives
Lee et al. (2006). PNAS 103, 12999–13003; Dalsin et al. (2003). JACS 125 , 4253–4258; Silverman et al. (2007). Mar Biotech 9, 661–681; Waite et al. (2005). J Adh 81, 297-317.
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Adhesion with a solid interlayer
Graham et al. (2006). In Smith & Callow (Eds.) Biological Adhesives (pp. 207-223), Springer-Verlag.
Traditional Bioinspired: Ground frog NotadenTissue adhesives
Adhesive Shear strengthMean±SD (MPa)
Notaden 1.7±0.3
Cyanoacrylate 1.7±0.7
PVA glue 1.3±0.2
UHU® Stic 0.9±0.4
Adhesive Peel strengthMean±SD (MPa)
Cyanoacrylate 0.15±0.03
Notaden 0.10±0.03
Gelatin 0.04±0.03
Fibrin 0.02±0.01
5 µm
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Adhesion with a solid interlayer
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
TraditionalTissue adhesives
Bioinspired: Caddisfly larva
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Adhesion with a solid interlayer
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
TraditionalTissue adhesives
Bioinspired: Caddisfly larva
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Adhesion with a solid interlayer
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
TraditionalTissue adhesives
Bioinspired: Sandcastle worm Phragmatopoma californica
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Bioinspired: Sandcastle worm Phragmatopoma californica
Adhesion with a solid interlayer
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
TraditionalTissue adhesives
Glass beads Egg cells
Glass beads Bone chips
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Adhesion with a solid interlayer
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
TraditionalTissue adhesives
Bioinspired: Sandcastle worm Phragmatopoma californica
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Adhesion with a solid interlayer
TraditionalTissue adhesives
Bioinspired: Caddisfly larva
Stewart & Wang (2010). Biomacromolecules 11, 969–974.
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Adhesion with a solid interlayer
Smith et al. (2009). Comp Biochem Physiol B 152, 110–117.
TraditionalTissue adhesives
Bioinspired: Slug Arion subfuscus
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Shape gripElectrostaticVan der Waals Friction grip Suction
Adhesion without an intermediate layer
Solid intermediate layer
Adhesion with an intermediate layer
Liquid intermediate layer
What is adhesion?
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Upper endoscopy Camera pill
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
10,000 bristles per foot
200x its own weight for short times
Bioinspired: Hemisphaerota cyanea
How to beat animals 200x heavier?
Eisner et al. (2000). PNAS 97, 6568–6573.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Hemisphaerota cyanea
Eisner et al. (2000). PNAS 97, 6568–6573.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Oily footprints during normal walking
Oily footprints when defending
Bioinspired: Hemisphaerota cyanea
Eisner et al. (2000). PNAS 97, 6568–6573.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Tarsus in contact with glass50 µm
10 µm
Bristle pads
Bioinspired: Hemisphaerota cyanea
Eisner et al. (2000). PNAS 97, 6568–6573.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Tissue
Pad
Silicone oilWet layer
Dry micropillars
Silicon-oil coated micropillars
Cheung & Sitti. (2008). J Adh Sci Technol 22, 569–589; Kwan et al. (2006). Biomed Mater 1, 216–220; Cheung et al. (2005). Proc IEEE/ASME Int Conf Adv Intel Mechatr MD5-04; Glass et al. (2008). IEEE Trans Biomed Eng 55, 2759–2767.
Bioinspired: Hemisphaerota cyanea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Hemisphaerota cyanea
Cheung & Sitti. (2008). J Adh Sci Technol 22, 569–589; Kwan et al. (2006). Biomed Mater 1, 216–220; Cheung et al. (2005). Proc IEEE/ASME Int Conf Adv Intel Mechatr MD5-04; Glass et al. (2008). IEEE Trans Biomed Eng 55, 2759–2767.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Hemisphaerota cyanea
Cheung & Sitti. (2008). J Adh Sci Technol 22, 569–589; Kwan et al. (2006). Biomed Mater 1, 216–220; Cheung et al. (2005). Proc IEEE/ASME Int Conf Adv Intel Mechatr MD5-04; Glass et al. (2008). IEEE Trans Biomed Eng 55, 2759–2767.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Limax maximus
How to move when having
one foot?
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Limax maximus
High stress area:mucus liquifies
Rim
1 cm
Low stress area:mucus resolidifies
Non-newtonianbehaviour
Denny (1980). Nature 285, 160; Denny (1981). J Exp Biol91, 195; Ewoldt et al. (2007). Soft Matter 3, 634–643; Chan et al. (2007). J Intel Mat Sys Struct 18, 111–116.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Limax maximus
Denny (1980). Nature 285, 160; Denny (1981). J Exp Biol91, 195; Ewoldt et al. (2007). Soft Matter 3, 634–643; Chan et al. (2007). J Intel Mat Sys Struct 18, 111–116.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Limax maximus
Denny (1980). Nature 285, 160; Denny (1981). J Exp Biol91, 195; Ewoldt et al. (2007). Soft Matter 3, 634–643; Chan et al. (2007). J Intel Mat Sys Struct 18, 111–116.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Limax maximus
Denny (1980). Nature 285, 160; Denny (1981). J Exp Biol91, 195; Ewoldt et al. (2007). Soft Matter 3, 634–643; Chan et al. (2007). J Intel Mat Sys Struct 18, 111–116.
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Tree frog Litoria caerulea
How to hang upside-down? How to keep being sticky?
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Bioinspired: Tree frog Litoria caerulea
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Bioinspired: Tree frog Litoria caerulea
Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
100 µm
Toe pad
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
5 µm
Surface cells
100 µm
5 µm
1 µm
Bioinspired: Tree frog Litoria caerulea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
5 µm1 µm
High-power view of one cell
100 µm
5 µm
1 µm
Bioinspired: Tree frog Litoria caerulea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
Cross-section through cell surface 100 µm
5 µm
1 µm
Bioinspired: Tree frog Litoria caerulea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
100 µm
5 µm
1 µm
toe pad
liquid
W
W
v
h
h
h < W
h > W
Bioinspired: Tree frog Litoria caerulea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
100 µm
5 µm
1 µmPersson. J Phys: Condens Matter 19 (2007) 376110; Hanna & Barnes. J Exp Biol 155 (1991) 103-125; Federle et al. J Roy Soc Interface 3 (2006) 689-697; Barnes. Science 318 (2007) 203-204
hard solid
rubber
Young modulusTree frog pad 0 .004-0.02 MPaJellyfish jelly 0.01 MpaCartilage 20 MPaBone 18,000 MpaSilicone rubber 1-5 MpaSteel 200,000 MPa
Bioinspired: Tree frog Litoria caerulea
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Adhesion with a liquid interlayer
TraditionalIn vivo microrobots
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Shape gripElectrostatic Friction grip Suction
Solid intermediate layer
Adhesion with an intermediate layer
Liquid intermediate layer
Van der Waals
Adhesion without an intermediate layer
What is adhesion?
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COMBINATIONS & HYBRIDS…