bioinspired design

Reversible adhesion inspired by the clingfish

The ability to delicately attach to variable surfaces could lead to improved performance of robotic systems, with specific emphasis on manipulation and locomotion. Looking at the adhesion strategies of the northern clingfish, I designed biomimetic adhesives to grab onto many different types of underwater objects! Take a look! 

PUBLICATIONS

Sandoval JA, Xu T, Tolley MT (2023) "Influence of stiffness on fluid channeling textures and their ability to grasp soft, wet objects for application to surgical grippers". Submitted. 

Weston-Dawkes WP, Majit MRA, Sandoval J, Ochoa E, Liu S, Horgan S, Tolley MTT (2023). "Design of layer jamming liver retractor for surgical access, deployment, and removal". Submitted. 

 Sandoval JA, Xu T, Adibnazari I, Deheyn DD, Tolley MT (2022). "Combining suction and friction to stabilize a soft gripper to shear and normal forces, for manipulation of soft objects in wet environments", IEEE Robotics and Automation Letters, 7(2), 4134-4141.

 Ishida M, Sandoval JA, Lee S, Huen S, Tolley MT (2022). "Locomotion via Active Suction in a Sea Star-Inspired Soft Robot", IEEE Robotics and Automation Letters, 7(4), 10304-10311.

Sandoval JA, Ishida M, Jadhav S, Huen S, Tolley MT (2022). "Tuning the morphology of suction discs to enable directional adhesion for locomotion in wet environments", Soft Robotics, 9(6), 1083-1097.

Sandoval JA (2021). "Fish-inspired adhesion with application to robotic manipulation and locomotion" (Doctoral dissertation, UC San Diego).

 Sandoval JA, Sommers J, Peddireddy KR, Robertson-Anderson RM, Tolley MT, Deheyn DD (2020). "Toward bioinspired wet adhesives: lessons from assessing surface structures of the suction disc of intertidal clingfish", ACS Applied Materials & Interfaces, 12(40), 45460-45475.

 Sandoval JA, Jadhav S, Quan H, Deheyn DD, Tolley MT (2019). "Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc", Bioinspiration and Biomimetics, 14, 066016. 

PATENTS

Tolley MT, Sandoval J, Deheyn D (2023). "Suction discs for adhesion to rough, delicate, and wet surfaces", U.S. Patent No. 11,674,545. Washington, DC: U.S. Patent and Trademark Office.