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Enhanced Compliant Adhesive Design and Fabrication with Dual-Level Hierarchical Structure

Journal of Bionic Engineering 2010年第3期7卷 228-234页

作者： Dan Sameoto carlo menon Department of Mechanical Engineering University of Alberta MENRVA Lab School of Engineering ScienceSimon Fraser University

Synthetic dry adhesives inspired by the nano-and micro-scale hairs found on the feet of geckos and some spiders have beendeveloped for almost a decade. Elastomeric single level micro-scale mushroom shaped fibres are currently able to function evenbetter than natural dry adhesives on smooth surfaces under normal loading. However, the adhesion of these single level syntheticdry adhesives on rough surfaces is still not optimal because of the reduced contact surface area. In nature, contact area ismaximized by hierarchically structuring different scales of fibres capable of conforming surface roughness. In this paper, weadapt the nature’s solution arid propose a novel dual-level hierarchical adhesive design using Polydimethylsiloxane (PDMS),which is tested under peel loading at different orientations. A negative macro-scale mold is manufactured by using a laser cutterto define holes in a Poly(methyl methacrylate) (PMMA) plate. After casting PDMS macro-scale fibres by using the obtainedPMMA mold, a previously prepared micro-fibre adhesive is bonded to the macro-scale fibre substrate. Once the bondingpolymer is cured, the micro-fibre adhesive is cut to form macro scale mushroom caps. Each macro-fibre of the resulting hierarchicaladhesive is able to conform to loads applied in different directions. The dual-level structure enhances the peel strengthon smooth surfaces compared to a single-level dry adhesive, but also weakens the shear strength of the adhesive for a given areain contact. The adhesive appears to be very performance sensitive to the specific size of the fibre tips, and experiments indicatethat designing hierarchical structures is not as simple as placing multiple scales of fibres on top of one another, but can requiresignificant design optimization to enhance the contact mechanics and adhesion strength.

关键词： biomimetics dry adhesive hierarchical dual-level adhesive silicone polymer

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Multi-Scale Compliant Foot Designs and Fabrication for Use with a Spider-Inspired Climbing Robot

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Journal of Bionic Engineering 2008年第3期5卷 189-196页

作者： Dan Sameoto carlo menon MENRVA Group School of Engineering Science Simon Fraser University Burnaby BC V5A 1S6 Canada

Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.

关键词： biomimetics dry adhesive gecko climbing robot MEMS silicone

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DEM Numerical Simulation of Abrasive Wear Characteristics of a Bioinspired Ridged Surface

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Journal of Bionic Engineering 2010年第2期7卷 175-181页

作者： Mohammad Almagzoub Mohammad carlo menon Key Laboratory of Bionic Engineering Jilin University College of Biological and Agricultural Engineering Jilin University MENRVA Group Simon Fraser University

This paper presents numerical investigations into a ridged surface whose design is inspired by the geometry of a Farrer’*** objective of the performed research is to assess if the proposed Bioinspired Ridged Surface (BRS) can potentiallyimprove wear resistance of soil-engaging components used in agricultural machinery and to validate numerical simulationsperformed using software based on the Discrete Element Method (DEM).The wear performance of the BRS is experimentallydetermined and also compared with a conventional flat *** size of soil particles and relative velocities between theabrasive sand and the testing surfaces are *** results show that the numerical simulations are in agreement withthe experimental results and support the hypothesis that abrasive wear is greatly reduced by substituting a conventional flatsurface with the BRS.

关键词： bioinspired ridged surface abrasive wear numerical simulation Discrete Element Method (DEM)

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Performance of Forearm FMG and sEMG for Estimating Elbow, Forearm and Wrist Positions

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Journal of Bionic Engineering 2017年第2期14卷 284-295页

作者： Zhen Gang Xiao carlo menon Menrva Research Group Schools of Mechatronic Systems Engineering and Engineering Science Simon Fraser University British Columbia V3T0A3 Canada

The ability to track upper extremity movement during activity of daily living has the potential to facilitate the recovery of individuals with neurological or physical injuries. Hence, the use of Surface Electromyography （sEMG） signals to predict upper extremity movement is an area of interest in the research community. A less established technique, Force Myography （FMG）, which uses force sensors to detect forearm muscle contraction patterns, is also able to detect some movements of the arm. This paper investigates the comparative performance of sEMG and FMG when predicting wrist, forearm and elbow positions using signals extracted from the forearm only. Support Vector Machine （SVM） and Linear Discriminant Analysis （LDA） classifiers were used to evaluate the prediction performance of both FMG and sEMG data. Ten healthy volunteers participated in this study. Under a cross validation across a repetition evaluation scheme, the SVM classifier obtained averaged accuracies of 84.3%, 82.4% and 71.0%, respectively, for predicting elbow, forearm and wrist positions using FMG; while sEMG yielded 75.4%, 83.4% and 92.4% accuracies for predicting the same respective positions. The accuracies obtained using SVM are slightly, but statistical significantly, higher than the ones obtained using LDA. However, the trends on the classification performances between FMG and sEMG are consistent. These results also indicate that the forearm FMG pattern is highly influenced by the change of elbow position, while the forearm sEMG is less subjected to the change. Overall, both forearm FMG and sEMG techniques provide abundant information that can be utilized for tracking the upper extremity movements.

关键词： Surface Electromyography (sEMG) Force Myography (FMG) classification limb movement activity monitoring,upper extremity

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Fabrication and Testing of Self Cleaning Dry Adhesives Utilizing Hydrophobicity Gradient

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Journal of Bionic Engineering 2015年第2期12卷 270-275页

作者： Enrico Bovcro Jeffrey Krahn carlo menon MENRVA Lab School of Engineering Science Simon Fraser University 8888 University Drive Burnaby BC Canada V5A 1S6

In this paper we present a method to create a hydrophobicity gradient on the surface of a Polydimethylsiloxane （PDMS） dry adhesive. The method consists of the partial silanization of the surface of the dry adhesive by Chemical Vapour Deposition （CVD） of octadecyltrichlorosilane （OTS）. The partial silanization of the surface of the sample results in a hydrophobic to hy- drophilic gradient across the surface of the dry adhesive. The resulting change in hydrophobicity across the surface of the dry adhesive results in the uphill motion of a droplet of water, which appears to be directly proportional to the area of contact between the droplet and the adhesive. Normal adhesion testing is performed to quantify the effect of the hydrophobic gradient across the surface of the sample. While a variation in adhesion are only minimally affected by the silanization, and the motion strength across the sample is measured, the adhesive properties of the droplet of water doesn＇t cause any loss of adhesion.

关键词： dry adhesion self cleaning hydrophobic silanization polymers PDMS

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Bioinspired Dry Adhesive Materials and Their Application in Robotics： A Review

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Journal of Bionic Engineering 2016年第2期13卷 181-199页

作者： Yasong Li Jeffrey Krahn carlo menon MENRVA Research Group School of Engineering Science Simon Fraser University 8888 University Drive Burnaby BC V5A 1S6 Canada

Dry adhesives inspired from climbing animals, such as geckos and spiders, rely on van der Waals forces to attach to the opposing surface. Biological fibrillar dry adhesives have a hierarchical structure closely resembling a tree： the surface of the skin on the animal＇s feet is covered in arrays of slender micro-fibrils, each of which supports arrays of fibrils in submicron dimensions. These nano-meter size fibrils can conform closely to the opposing surfaces to induce van der Waals interaction. Bioinspired dry adhesives have been developed in research laboratories for more than a decade. To mimic the biological fibrillar adhesives, fibrillar structures have been prepared using a variety of materials and geometrical arrangements. In this review article, the mechanism and selected fabrication methods of fibrillar adhesives are summarized for future reference in adhesive development. Robotic applications of these bioinspired adhesives are also introduced in this article. Various successful appli- cations of bioinspired fibrillar adhesives can shed light on developing smart adhesives for use in automation.

关键词： bioinspired gecko adhesive van der Waals forces biomimetic climbing robot bioinspired tape

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Effect of Orientation of Fibers and Holes on the Radial Strain Amplification of Campaniform sensilla

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Journal of Bionic Engineering 2010年第4期7卷 314-320页

作者： Nickolas L.M.Mani carlo menon MENRVA Research Group School of Engineering ScienceSimon Fraser University MENRVA Research Group School of Engineering Science Simon Fraser University

In this paper,a structural analysis is performed to gain insights on the synergistic mechanical amplification effect thatCampaniform sensilla have when combined in an array *** order to simplify the analysis performed in this preliminaryinvestigation,an array of four holes in a single orthotropic lamina is ***,a Finite Element Method(FEM) analysis is performed to discretely assess the influence that different geometrical parameters have on the mechanicalamplification properties of the ***,an artificial neural network is used to obtain an approximated multi-dimensionalcontinuous function,which models the relationship between the geometrical parameters and the amplification properties of ***,an optimization is performed to identify the geometrical parameters yielding the maximum mechanical ***,results are validated with an additional FEM simulation performed by varying geometrical parameters in theneighborhood of the identified optimal *** method proposed in this paper can be fully automated and used to solvea wide range of optimization problems aimed at identifying optimal configurations of strain sensors inspired by Campaniformsensilla.

关键词： Campaniform sensillum strain sensor FEM ANN optimization

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Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion： A Quasi-Static Investigation

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Journal of Bionic Engineering 2013年第1期10卷 1-11页

作者： Paolo Boscariol Michael A. Henrey Yasong Li carlo menon MENRVA Research Group School of Engineering Science Simon Fraser University Burnaby BC V5A 1S6 Canada

Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the character- istics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimi- zation routine is used, and its output is a sequence of optimal posture and motor torque set-points.

关键词： climbing robot dry adhesive gait planning legged robots preloading

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A Biomimetic Climbing Robot Based on the Gecko

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Journal of Bionic Engineering 2006年第3期3卷 115-125页

作者： carlo menon Metin Sitti Carnegie Mellon University Pittsburgh Pennsylvania 15213-389 USA

The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.

关键词： gecko robotics biomimetics climbing space memory alloy

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A Case Study of a Force-myography Controlled Bionic Hand Mitigating Limb Position Effect

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Journal of Bionic Engineering 2017年第4期14卷 692-705页

作者： Diego Ferigo Lukas-Karim Merhi Brittany Pousett Zhen Gang Xiao carlo menon MENRVA Research Group School of Engineering Science Simon Fraser University Burnaby BC Canada Barber Prostheties Clinic Vancouver BC Canada

Force Myography （FMG）, which monitors pressure or radial deformation of a limb, has recently been proposed as a po- tential alternative for naturally controlling bionic robotic prostheses. This paper presents an exploratory case study aimed at evaluating how FMG behaves when a person with amputation uses a hand prosthetic prototype. One volunteer （transradial amputation） participated in this study, which investigated two experimental cases： static and dynamic. The static case considered forearm muscle contractions in a fixed elbow and shoulder positions whereas the dynamic case included movements of the elbow and shoulder. When considering eleven different hand grips, static data showed an accuracy over 99%, and dynamic data over 86% （within-trial analysis）. The across-trial analysis, that takes into account multiple trials in the same data collection set, showed a meaningful accuracy respectively of 81% and 75% only for the reduced six grips setup. While further research is needed to increase these accuracies, the obtained results provided initial evidence that this technology could represent an in- teresting alternative that is worth exploring for controlling prosthesis.

关键词： Force Myography (FMG) Human Machine Interface (HMI) transradial amputee limb position effect regression,bionic hand

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