Please, contribute

-- MicheleLanzetta? - 16 Jul 2004

We are doing a lot of work with claws and would like to also develop a "spine" technology, but still it is not clear how a spine should work, so maybe a detailed comparison could help. Posing and answering questions could help better characterize a spine.

*Feature*	Claw	Spine	Notes
Total number	few	many
Active	single or few	load shared
Legs	front/intermediate	front/intermediate/rear	insects preferably climb UP
Length	-	shorter
Lower bound constraint	both should be as small as possible		limited by bearable load/fabrication/roughness
Diameter	sharp end		both can be taper
Shape	curved	straight
Stiffness	high	lower	when hooking the optimal angle should be preserved
Function	hooking	hooking/thrust
Relative hardness	maximum	high
Axial Compliance	some	on the spined surface
Lateral Compliance	low	one way
Surface interaction	penetration/hooking	penetration/hooking and friction
Normal force	high	well distributed
Moment	favourable	determined by spined surface configuration
Load type	mainly at the tip	can be on the lateral surface	shear force for both
Configuration	claws and spined surfaces are interchangeable depending on the position of the load application
Wall roughness	high	low	this is a just a scale issue, they can interact in the same way

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