Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to s...Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.展开更多
Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex...Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.展开更多
A new species of gekkonid,Gekko liui sp.nov.,is described based on six specimens from Dazhou Island,Wanning City,Hainan,China.This new species is distinguished from its congeners by significant genetic divergence(>...A new species of gekkonid,Gekko liui sp.nov.,is described based on six specimens from Dazhou Island,Wanning City,Hainan,China.This new species is distinguished from its congeners by significant genetic divergence(>4.6% in the mitochondrial ND2 gene) and morphological characters,including a small body size(SVL 48.92– 56.67 mm,n = 6),nares in contact with rostral scale,37–42 interorbital scales between anterior corners of the eyes,140–148 ventral scales from mental to cloacal slit,103–118 midbody scale rows,34– 39 ventral scale rows,10–11 subdigital lamellae on the first toe and 12–13 on the fourth toe,webbing present in the fingers and toes,with tubercles on the dorsal surface of the tail,20–23 precloacal pores in males,and dorsal surface of body with six or seven large dark and brown bicolor bands between the nape and sacrum.The discovery of this new species brings the number of Gekko(subgenus Japonigekko) species in China to 23 and in Hainan Province to 4.展开更多
The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deci...The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deciphering their adhesion mechanism.This study developed a contact mechanics model based on van der Waals forces and frictional self-locking effects,incorporating both the spatular pad and spatular shaft of the gecko’s foot microstructures.Building on this foundation,a discrete element simulation model was established using the bonding method to replicate the contact between the gecko's spatula and different surfaces.The dynamic adhesion and detaching processes under normal and tangential external forces were simulated,allowing for the analysis of variation curves of normal and tangential adhesion forces at different detaching angles.This provided insights into the directional adhesion mechanics of the gecko's spatula.Furthermore,a force measurement system was constructed using a multi-degree-of-freedom nano-manipulator and an atomic force microscope within a scanning electron microscope.This system was used to experimentally test the adhesion characteristics of the gecko’s foot microstructures,validating the accuracy of the proposed adhesion mechanics model.展开更多
Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attentio...Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.展开更多
Long-PCR amplification, clone and primer-walking sequencing methods were employed in determine the complete sequence of mitochondrial genome of tokay (Gekko gecko). The genome is 16 435 bp in size, contains 13 protein...Long-PCR amplification, clone and primer-walking sequencing methods were employed in determine the complete sequence of mitochondrial genome of tokay (Gekko gecko). The genome is 16 435 bp in size, contains 13 protein-coding, 2 ribosomal and 22 transfer RNA genes. The mt genome of Gekko is similar to most of the vertebrates in gene components, order, orientation, tRNA structures, low percentage of guanine and high percentage of thymine, and skews of base GC and AT. Base A was preferred at third codon positions for protein genes is similar to amphibians and fishes rather than amnion vertebrates. The standard stop codes (TAA) present only in three protein genes, less than those of most vertebrates. Transfer RNA genes range in length from 63 to 76 nt, their planar structure present characteristic clover leaf, except for tRNA-Cys and tRNA-Ser (AGY) because of lacking the D arm.展开更多
Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on it.Significant progresses hav...Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on it.Significant progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive surfaces.Relevant application researches have been carried out as well.This paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research breakthroughs.First,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact modes.Then,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are presented.Next,some application researches based on the gecko-like dry adhesive surfaces are introduced.Finally,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.展开更多
The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves co...The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.展开更多
During extensive field work in the Zagros Mountains, western Iran, from October 2013 to November 2014, twenty five localities in different areas of the Kermanshah Province were investigated. Nineteen specimens of Schm...During extensive field work in the Zagros Mountains, western Iran, from October 2013 to November 2014, twenty five localities in different areas of the Kermanshah Province were investigated. Nineteen specimens of Schmidtler＇s dwarf gecko, Microgecko helenae fasciatus, were collected from six localities in western and southeastern regions of the Kermanshah Province. This new collection verifies the presence of M. h. fasciatus in the area after the description of Schmidtler and Schmidtler of the holotype specimen in 1972. All of the collected specimens are consistent with the described specimens in diagnostic characters, as have a uniform dorsal pattern with five distinct dark crossbars and white posterior margins as well as the higher number of dorsal scales between axilla and groin. Detailed morphology of the new specimens is discussed and compared with those of rare previous records. Taxonomy, distribution, and habitat types of this tiny gecko in the western foothills of the Zagros Mountains are also discussed.展开更多
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...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.展开更多
AIM: To investigate the anti-tumor effect of Chinese medicine Gecko on human esophageal carcinoma cell lines and xenografted sarcoma 180 in Kunming mice and its mechanism. METHODS: The serum pharmacological method was...AIM: To investigate the anti-tumor effect of Chinese medicine Gecko on human esophageal carcinoma cell lines and xenografted sarcoma 180 in Kunming mice and its mechanism. METHODS: The serum pharmacological method was used in vitro . The growth rates of the human esophageal carcinoma cells (EC9706 or EC1) were measured by a modifi ed 3-(4,5-Dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT) assay. The transplanted tumor model of the mouse S180 sarcoma was established. Fifty mice were randomly divided into fi ve groups (n = 10). Three Gecko groups were treated respectively with oral administration of Gecko powder at a daily dose of 13.5 g/kg, 9 g/kg, and 4.5 g/kg. The negative group (NS group) was treated with oral administration of an equal volume of saline and the positive group (CTX group) was treated with 100 mg/kg Cytoxan by intraperitoneal injection at the fi rst day. After 2 wk of treatment, the anti-tumor activity was evaluated by tumor tissue weighing. The impact on immune organ was detected based on the thymus index, spleen index, phagocytic rate and phagocytic index. The protein expression of vascular endothelingrowth factor (VEGF) and basic fibroblast growth factor (bFGF) were detected by immunohistochemistry. The cell apoptotic rate was detected by terminal deoxynucleotidyl transferase (TdT)-mediated dUTP nick end labeling (TUNEL) assay. RESULTS: The A value in each group treated with Gecko after 72 h was reduced signif icantly in EC9706 and in EC1. The tumor weight in each group of Gecko was decreased signifi cantly (1.087 ± 0.249 vs 2.167 ± 0.592; 1.021 ± 0.288 vs 2.167 ± 0.592; 1.234 ± 0.331 vs 2.167 ± 0.592; P < 0.01, respectively). However, the thymus index and Spleen index of mice in Gecko groups had no significant difference compared with the NS group. The immunoreactive score of VEGF and bFGF protein expression of each Gecko group by immunohistochemical staining were lowered signifi cantly. The apoptosis index (AI) of each group was increased progressively with increase of dose of Gecko by TUNEL. CONCLUSION: Gecko has anti-tumor effects in vitro and in vivo; induction of tumor cell apoptosis and the down-regulation of protein expression of VEGF and bFGF may be contributed to anti-tumor effects of Gecko.展开更多
This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biom...This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.展开更多
Locomotion ability, efficiency and reliability are key targets for a good robot. The linkage mechanism for robot locomotion is a discontinuous-constraint metamorphic mechanism. Here we set up equations to present the ...Locomotion ability, efficiency and reliability are key targets for a good robot. The linkage mechanism for robot locomotion is a discontinuous-constraint metamorphic mechanism. Here we set up equations to present the discontinuous-constraint, point out that driving and controlling are the key points to improve the performance and efficiency of the linkage mechanism. Inspired by controlling strategy of the motor nervous system in peripheral vertebrae to the locomotion, we draw off motor control and drive strategy.展开更多
基金supported by the National Key Research&Development Program of China(Grant No.2020YFB1313504)the State Key Laboratory of Mechanics and Control for Aerospace Structures of Nanjing University of Aeronautics and Astronautics.
文摘Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.
基金supported by Jiangsu Special Project for Frontier Leading Base Technology(Grant Nos.BK20192004)Fundamental Research Funds for Central Universities(Grant Nos.B240201190)+3 种基金Changzhou Social Development Science and Technology Support Project(Grant Nos.CE20225037)Changzhou Science and Technology Project(Grant Nos.CM20223014)Suzhou Key Industrial Technology Innovation Forward-Looking Application Research Project(Grant Nos.SYG202143)Changzhou Science and Technology Project(Grant Nos.CJ20241061).
文摘Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.
基金supported by Hainan Wanning Dazhou Island Marine Ecosystem National Natural Reserve Project: Survey of Terrestrial Animal Resources。
文摘A new species of gekkonid,Gekko liui sp.nov.,is described based on six specimens from Dazhou Island,Wanning City,Hainan,China.This new species is distinguished from its congeners by significant genetic divergence(>4.6% in the mitochondrial ND2 gene) and morphological characters,including a small body size(SVL 48.92– 56.67 mm,n = 6),nares in contact with rostral scale,37–42 interorbital scales between anterior corners of the eyes,140–148 ventral scales from mental to cloacal slit,103–118 midbody scale rows,34– 39 ventral scale rows,10–11 subdigital lamellae on the first toe and 12–13 on the fourth toe,webbing present in the fingers and toes,with tubercles on the dorsal surface of the tail,20–23 precloacal pores in males,and dorsal surface of body with six or seven large dark and brown bicolor bands between the nape and sacrum.The discovery of this new species brings the number of Gekko(subgenus Japonigekko) species in China to 23 and in Hainan Province to 4.
基金funded by The National Key R&D Program of China(2023YFC2205600)Open Project of Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.,Ltd.(YY-F805202312005)+1 种基金HIT Youth Scientist Laboratory Project,Postdoctoral Fellowship Program of CPSF(GZB20230259)the China Postdoctoral Science Foundation(2023TQ0133)(2023M731288).
文摘The gecko's feet possess unique microstructures that enable strong adhesive forces when interacting with various surfaces.Understanding the interfacial forces generated by these microstructures is crucial for deciphering their adhesion mechanism.This study developed a contact mechanics model based on van der Waals forces and frictional self-locking effects,incorporating both the spatular pad and spatular shaft of the gecko’s foot microstructures.Building on this foundation,a discrete element simulation model was established using the bonding method to replicate the contact between the gecko's spatula and different surfaces.The dynamic adhesion and detaching processes under normal and tangential external forces were simulated,allowing for the analysis of variation curves of normal and tangential adhesion forces at different detaching angles.This provided insights into the directional adhesion mechanics of the gecko's spatula.Furthermore,a force measurement system was constructed using a multi-degree-of-freedom nano-manipulator and an atomic force microscope within a scanning electron microscope.This system was used to experimentally test the adhesion characteristics of the gecko’s foot microstructures,validating the accuracy of the proposed adhesion mechanics model.
基金Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures,1005-IZD23002-25Aihong Ji,National Natural Science Foundation of China,51861135306,Aihong Ji,51875281Aihong Ji,Nanjing University of Aeronautics and Astronautics Doctoral Student Short-Term Overseas Visiting Program,230304DF05,Qingfei Han.
文摘Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.
文摘Long-PCR amplification, clone and primer-walking sequencing methods were employed in determine the complete sequence of mitochondrial genome of tokay (Gekko gecko). The genome is 16 435 bp in size, contains 13 protein-coding, 2 ribosomal and 22 transfer RNA genes. The mt genome of Gekko is similar to most of the vertebrates in gene components, order, orientation, tRNA structures, low percentage of guanine and high percentage of thymine, and skews of base GC and AT. Base A was preferred at third codon positions for protein genes is similar to amphibians and fishes rather than amnion vertebrates. The standard stop codes (TAA) present only in three protein genes, less than those of most vertebrates. Transfer RNA genes range in length from 63 to 76 nt, their planar structure present characteristic clover leaf, except for tRNA-Cys and tRNA-Ser (AGY) because of lacking the D arm.
基金supported by the Major Research Plan of the National Natural Science Foundation of China[Grant number 91848202]supported by the Self-Planned Task of State Key Laboratory of Robotics and System(HIT)[Grant number SKLRS202106B].
文摘Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on it.Significant progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive surfaces.Relevant application researches have been carried out as well.This paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research breakthroughs.First,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact modes.Then,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are presented.Next,some application researches based on the gecko-like dry adhesive surfaces are introduced.Finally,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.
基金This work was funded by Hi-tech Research and Development Program of China(2002AA 423230)National Natural Science Foundation of China(90205014,30400086).
文摘The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.
文摘During extensive field work in the Zagros Mountains, western Iran, from October 2013 to November 2014, twenty five localities in different areas of the Kermanshah Province were investigated. Nineteen specimens of Schmidtler＇s dwarf gecko, Microgecko helenae fasciatus, were collected from six localities in western and southeastern regions of the Kermanshah Province. This new collection verifies the presence of M. h. fasciatus in the area after the description of Schmidtler and Schmidtler of the holotype specimen in 1972. All of the collected specimens are consistent with the described specimens in diagnostic characters, as have a uniform dorsal pattern with five distinct dark crossbars and white posterior margins as well as the higher number of dorsal scales between axilla and groin. Detailed morphology of the new specimens is discussed and compared with those of rare previous records. Taxonomy, distribution, and habitat types of this tiny gecko in the western foothills of the Zagros Mountains are also discussed.
文摘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.
基金Doctor Fund of Henan University of Science & Technology, No. 20071201
文摘AIM: To investigate the anti-tumor effect of Chinese medicine Gecko on human esophageal carcinoma cell lines and xenografted sarcoma 180 in Kunming mice and its mechanism. METHODS: The serum pharmacological method was used in vitro . The growth rates of the human esophageal carcinoma cells (EC9706 or EC1) were measured by a modifi ed 3-(4,5-Dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide (MTT) assay. The transplanted tumor model of the mouse S180 sarcoma was established. Fifty mice were randomly divided into fi ve groups (n = 10). Three Gecko groups were treated respectively with oral administration of Gecko powder at a daily dose of 13.5 g/kg, 9 g/kg, and 4.5 g/kg. The negative group (NS group) was treated with oral administration of an equal volume of saline and the positive group (CTX group) was treated with 100 mg/kg Cytoxan by intraperitoneal injection at the fi rst day. After 2 wk of treatment, the anti-tumor activity was evaluated by tumor tissue weighing. The impact on immune organ was detected based on the thymus index, spleen index, phagocytic rate and phagocytic index. The protein expression of vascular endothelingrowth factor (VEGF) and basic fibroblast growth factor (bFGF) were detected by immunohistochemistry. The cell apoptotic rate was detected by terminal deoxynucleotidyl transferase (TdT)-mediated dUTP nick end labeling (TUNEL) assay. RESULTS: The A value in each group treated with Gecko after 72 h was reduced signif icantly in EC9706 and in EC1. The tumor weight in each group of Gecko was decreased signifi cantly (1.087 ± 0.249 vs 2.167 ± 0.592; 1.021 ± 0.288 vs 2.167 ± 0.592; 1.234 ± 0.331 vs 2.167 ± 0.592; P < 0.01, respectively). However, the thymus index and Spleen index of mice in Gecko groups had no significant difference compared with the NS group. The immunoreactive score of VEGF and bFGF protein expression of each Gecko group by immunohistochemical staining were lowered signifi cantly. The apoptosis index (AI) of each group was increased progressively with increase of dose of Gecko by TUNEL. CONCLUSION: Gecko has anti-tumor effects in vitro and in vivo; induction of tumor cell apoptosis and the down-regulation of protein expression of VEGF and bFGF may be contributed to anti-tumor effects of Gecko.
基金supported by the Brain Korea 21 Project and SNU-IAMD.
文摘This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.
基金National Natural Science Foundation of China under No. 60535020 , 50575102.
文摘Locomotion ability, efficiency and reliability are key targets for a good robot. The linkage mechanism for robot locomotion is a discontinuous-constraint metamorphic mechanism. Here we set up equations to present the discontinuous-constraint, point out that driving and controlling are the key points to improve the performance and efficiency of the linkage mechanism. Inspired by controlling strategy of the motor nervous system in peripheral vertebrae to the locomotion, we draw off motor control and drive strategy.
