Active peeling finger

Apart from spine engagement, dry adhesion needs more sophisticated disengaging strategy. Larger adhesion force disables directional disengagement. There are two types of peeling strategies for disengagement. One is peeling from palm, the other is peeling from tip of finger like Gecko does.

Rolling/unrolling of PSA using push/pull cables, July 30, 2004
These videos show the mechanism used on Sangbae's Stickybot to deploy and release the PSA from the wall: MVI_4325.AVI ,MVI_4326.AVI

These videos show the similar mechanism on Alan and Ji's Stickybot: MVI_4327.AVI, MVI_4328.AVI

SMA peeling, May 12 2004
For simple tendon actuation, I uesd SMA(shape memory alloy) which is lightest simplest solution for peeling. Expected shortcomings are slow recovery rate and fatigue on SMA string.

• short MOVIE of finger peeling.

-- SangbaeKim? - 12 May 2004