Figure 6.
(a) Illustration of how the weak tolerance of soft PSAs toward shear forces allows for easy separation of the interface when release is desired. (b) Using our D3 PSA ([0.22 M] nx 1000, M/I = 1000) the robot can lift a series of weights into a glass jar, dropping each using the shear failure mechanism, and then close the jar itself via the same mechanism. Importantly, the same adhesive was used for each of the demonstrations in the Videos S1, S2, S3 and S4 (more than 50 contact events), without losing any of its tack or leaving any residue upon substrates when delaminated. These demonstrations provide a strong proof of concept for this PSA as a component for soft robotics applications. (c) Illustration of the wet–dry-wet adhesion cycling performed using the D3 PSA. This demonstration was performed 25 times in a row, each time holding the Petri dishes up for 15 s before manually delaminating the probe from the interface. The probe was then stored with the sample in a freezer for one month before performing the same demonstration once again.