@article{aksak-jast07,
author = {Murphy, M.P. and Aksak, Burak and Sitti, Metin},
title = {Adhesion and Anisotropic Friction Enhancements of Angled
Heterogeneous Micro-Fiber Arrays with Spherical and Spatula
Tips},
journal = {Journal of Adhesion Science and Technology},
venue = {Journal of Adhesion Science and Technology},
year = {2007},
institution = {NanoRobotics Laboratory, Department of Mechanical
Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania
15213},
abstract = {Angled polyurethane fiber arrays are modified by adding
soft spherical and spatula shaped tips by dipping. These fibers
are characterized for adhesion and friction and compared with
unmodified fibers and flat material samples. Sphere and spatula
tip fiber samples demonstrate increased adhesion, with 10 and 23
times the maximum adhesion of the unmodified fiber sample,
respectively. The sphere and spatula tip fiber samples also show
increased friction, with 1.6 and 4.7 times the maximum friction
of the unmodified fiber sample, respectively. Simultaneous
friction and adhesion is observed in a synthetic dry angled
fibrillar adhesive sample (spatula tip fiber sample) for the
first time. The direction dependent friction of angled fibers is
investigated and observed. The adhesion and friction results
reported in this paper suggest that fibers with negligible
adhesion can be modified to exhibit significant adhesion and
friction enhancement by the proposed fiber tip modifications.},
keywords = {Gecko, Adhesion, Angled Fiber Array, Friction, Dry
Adhesive, Bioinspired adhesive},
url = {http://www.cs.cmu.edu/~claytronics/papers/aksak-jast07.pdf},
}