Table 2.

Previous research content on simulated foot attachment mechanisms.

Research Content	Description
Study of Biological Entities	Microscopic observation of biological samples, 3D physical scanning analysis
Theoretical Model Influencing Adhesion Force	Material surface parameters and contact angle as main influencing factors
Theoretical Model Influencing Adhesion Force	Tests conducted on six representative materials at different contact angles. The maximum adhesion force ranges from 4.72 N to 22.82 N
Simulation of Tarsal Mechanisms with Different Sizes	Simulation tests on 32 groups of bionic structures of different sizes, with maximum adhesion force ranging from 80 N to 13.5 N