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Optimal articulation strategy for a microfabricated gecko-inspired controllable adhesive

The articulation of gecko-inspired synthetic adhesives has received less attention than fiber geometry and fabrication method in the literature. In this paper, systematic variation of approach angle, shear length, and retraction angle have been performed to find the influence of articulation and suggest the ideal relationship between articulation and geometry. The results show similar adhesion and shear forces using angled approaches when compared to common vertical approaches. The first systematic approach angle variation resulted in significantly reduced preload forces and an adhesion force to preload ratio, μ', of up to 17. This value surpasses that of the adhesive structures found on the Tokay gecko while retaining high adhesion forces.