[en] The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems. (paper)

[en] This paper investigates the six degrees of freedom (6-DOF) flight dynamics and stability of the hawkmoth Manduca sexta using a multibody dynamics approach that encompasses the effects of the time varying inertia tensor of all the body segments including two wings. The quasi-steady translational and unsteady rotational aerodynamics of the flapping wings are modeled with the blade element theory with aerodynamic coefficients derived from relevant experimental studies. The aerodynamics is given instantaneously at each integration time step without wingbeat-cycle-averaging. With the multibody dynamic model and the aerodynamic model for the hawkmoth, a direct time integration of the fully coupled 6-DOF nonlinear multibody dynamics equations of motion is performed. First, the passive damping magnitude of each single DOF is quantitatively examined with the measure of the time taken to half the initial velocity (t_h_a_l_f). The results show that the sideslip translation is less damped approximately three times than the other two translational DOFs, and the pitch rotation is less damped approximately five times than the other two rotational DOFs; each DOF has the value of (unit in wingbeat strokes): t_h_a_l_f_,_f_o_r_w_a_r_d_/_b_a_c_k_w_a_r_d = 7.10, t_h_a_l_f_,_s_i_d_e_s_l_i_p = 17.95, t_h_a_l_f_,_a_s_c_e_n_d_i_n_g = 7.13, t_h_a_l_f_,_d_e_s_c_e_n_d_i_n_g = 5.77, t_h_a_l_f_,_r_o_l_l = 0.68, t_h_a_l_f_,_p_i_t_c_h = 2.39, and t_h_a_l_f_,_y_a_w = 0.25. Second, the natural modes of motion, with the hovering flight as a reference equilibrium condition, are examined by analyzing fully coupled 6-DOF dynamic responses induced by multiple sets of force and moment disturbance combinations. The given disturbance combinations are set to excite the dynamic modes identified in relevant eigenmode analysis studies. The 6-DOF dynamic responses obtained from this study are compared with eigenmode analysis results in the relevant studies. The longitudinal modes of motion showed dynamic modal characteristics similar to the eigenmode analysis results from the relevant literature. However, the lateral modes of motion revealed more complex behavior, which is mainly due to the coupling effect in the lateral flight states and also between the lateral and longitudinal planes of motion. The main sources of the flight instability of the hovering hawkmoth are examined as either the longitudinal instability grown from the coupled forward/backward velocity and the pitch rate, or the lateral instability grown from the coupled sideslip velocity and the roll rate. (paper)

[en] Layer-by-layer assembly is a powerful and flexible thin film process that has successfully reproduced biomimetic photonic systems such as structural colour. While most of the seminal work has been carried out using slow and ultimately unscalable immersion assembly, recent developments using spray layer-by-layer assembly provide a platform for addressing challenges to scale-up and manufacturability. A series of manufacturing systems has been developed to increase production throughput by orders of magnitude, making commercialized structural colour possible. Inspired by biomimetic photonic structures we developed and demonstrated a heat management system that relies on constructive reflection of near infrared radiation to bring about dramatic reductions in heat content. (paper)

[en] We report on the development of a robot’s dynamic locomotion based on a template which fits the robot’s natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order ‘template’ in a more complex ‘anchor’, the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion. (paper)

[en] In this paper, the mechanical properties of harbor seal vibrissae immersed in various solutions are investigated. As there are no nerves along the length of the vibrissae, all the perturbations have to be transmitted to their bases for sensing. Hence, quantification and understanding of the mechanical properties of the vibrissae are essential in determining the perturbations transmitted to the base of the vibrissae. Two experimental setups are devised for measurements of the different properties of the vibrissae. The first experimental setup is performed with a dynamic mechanical analysis machine. The measured properties in these experiments are the modulus of elasticity and the damping of the vibrissae. Dry, saline water-immersed, water-immersed and Hanks' balanced salt solution (HBSS)-immersed vibrissae are tested to determine the effects of these solutions on the properties of the vibrissae. Tests on the duration of immersion are also performed with saline water-immersed vibrissae. The second experimental setup is performed with a mini-shaker connected to a clamp, which rigidly holds the vibrissae at their bases. The measured properties in these experiments are the natural frequencies of the vibrissae. The results indicate that the moduli of elasticity of the vibrissae are found to decrease along their lengths. However, their damping does not vary along the lengths. HBSS-immersed and saline water-immersed vibrissae show similar characteristics on their properties. An analytical model for predicting the natural frequencies of the vibrissae is also derived. Strong agreement with previous studies on the underwater sensing principle of the harbor seal is also established. (paper)

[en] The ability to regulate forward speed is an essential requirement for flying animals. Here, we use a dynamically-scaled robot to study how flapping insects adjust their wing kinematics to regulate and stabilize forward flight. The results suggest that the steady-state lift and thrust requirements at different speeds may be accomplished with quite subtle changes in hovering kinematics, and that these adjustments act primarily by altering the pitch moment. This finding is consistent with prior hypotheses regarding the relationship between body pitch and flight speed in fruit flies. Adjusting the mean stroke position of the wings is a likely mechanism for trimming the pitch moment at all speeds, whereas changes in the mean angle of attack may be required at higher speeds. To ensure stability, the flapping system requires additional pitch damping that increases in magnitude with flight speed. A compensatory reflex driven by fast feedback of pitch rate from the halteres could provide such damping, and would automatically exhibit gain scheduling with flight speed if pitch torque was regulated via changes in stroke deviation. Such a control scheme would provide an elegant solution for stabilization across a wide range of forward flight speeds. (paper)

[en] Vertical vortex systems such as tornadoes dramatically affect the flight control and stability of aircraft. However, the control implications of smaller scale vertically oriented vortex systems for small fliers such as animals or micro-air vehicles are unknown. Here we examined the flapping kinematics and body dynamics of hawkmoths performing hovering flights (controls) and maintaining position in three different whirlwind intensities with transverse horizontal velocities of 0.7, 0.9 and 1.2 m s"−"1, respectively, generated in a vortex chamber. The average and standard deviation of yaw and pitch were respectively increased and reduced in comparison with hovering flights. Average roll orientation was unchanged in whirlwind flights but was more variable from wingbeat to wingbeat than in hovering. Flapping frequency remained unchanged. Wingbeat amplitude was lower and the average stroke plane angle was higher. Asymmetry was found in the angle of attack between right and left wings during both downstroke and upstroke at medium and high vortex intensities. Thus, hawkmoth flight control in tornado-like vortices is achieved by a suite of asymmetric and symmetric changes to wingbeat amplitude, stroke plane angle and principally angle of attack. (papers)

[en] Mesenchymal stem cells have attracted great interest in the field of tissue engineering and regenerative medicine because of their multipotentiality and relative ease of isolation from adult tissues. The medical application of this cellular system requires the inclusion in a growth and delivery scaffold that is crucial for the clinical effectiveness of the therapy. In particular, the ideal scaffolding material should have the needed porosity and mechanical strength to allow a good integration with the surrounding tissues, but it should also assure high biocompatibility and full resorbability. For such a purpose, protein-inspired biomaterials and, in particular, elastomeric-derived polypeptides are playing a major role, in which they are expected to fulfil many of the biological and mechanical requirements. A specific chimeric protein, designed starting from elastin, resilin and collagen sequences, was characterized over different length scales. Single-molecule mechanics, aggregation properties and compatibility with human mesenchymal stem cells were tested, showing that the engineered compound is a good candidate as a stem cell scaffold to be used in tissue engineering applications. (paper)

[en] We demonstrate how introducing a deliberate defect on the overhanging caps of strongly adhering mushroom shaped dry adhesive fibers can produce directional adhesion behavior. We find that the shape and location of this defect controls both the total adhesion force and the degree of directionality for these bio-inspired adhesives. Linear beam theory is used to demonstrate how the application of a shear load to a fiber in tension can create a small compressive load to an asymmetric crack, thereby delaying adhesion failure and producing directional adhesion, and the theory is confirmed with finite element models and empirical data. Anisotropic adhesives have been fabricated and tested and can demonstrate normal adhesion force up to ∼250 kPa with a shear displacement of 15 µm away from the defect and as small as ∼5 kPa when sheared the same amount towards the defect. (communication)

[en] Click-beetles jump from an inverted position without using their legs. This unique mechanism results in high vertical jumps with the jump angle restricted by the rigid morphology of the exoskeleton. We explored the option to exploit this jumping mechanism for application to small mechanical devices having to extricate themselves from rough terrain. We combined experiments on a biomimetic jumping device with a physical–mathematical model of the jump to assess the effect of morphological variation on the jumping performance. We found that through morphological change of two non-dimensional (size independent) parameters, the propulsive force powering the jump can be directed at angles as small as 40°. However, in practice jumping at such angles is precluded by loss of traction with the ground during the push-off phase. This limitation to steep jump angles is inherent to the jumping mechanism which is based on rotation of body parts about a single hinge. Such a rotation dictates a curvilinear trajectory for the center of mass during takeoff so that the vertical and horizontal accelerations occur out of phase, implying loss of traction with the ground before substantial horizontal acceleration can be reached. Thus click-beetle inspired jumping is effective mainly for making steep-angle righting jumps. (paper)