An optimal micropatterned end-effecter for enhancing frictional force on large intestinal surface

Sung Hoon Lee, Young Tae Kim, Sungwook Yang, Eui Sung Yoon, Dae Eun Kim, Kahp Y. Suh

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17 Citations (Scopus)


We present a simple surface modification method for enhancing the frictional properties on soft, viscoelastic tissue of large intestine by integrating micropatterned structures with controlled shape and geometry. The micropatterned end-effecter (EE) was fabricated onto micromachined EE body (20 mm long, 2 mm diameter cylinders) in the forms of line, box, pyramid, and bottle shape by utilizing capillary molding technique with UV-curable poly(urethane acrylate) (PUA) polymer. To evaluate the frictional behavior of micropatterned EE, we employed a biotribotester, for easy loading and test of a biological organ specimen. It was found that the frictional properties of micropatterned EE are heavily dependent upon the shape of microstructure. The patterned EE with parallel lines (to the direction of locomotion) showed better frictional performance (average frictional coefficient ∼1.53 and maximum ∼3.98) compared with other micropatterned EEs (average frictional coefficient 0.72-0.94 and maximum 1.78-2.49) and nonpatterned EE (average frictional coefficient ∼0.58 and maximum ∼1.51). In addition, various geometric parameters (e.g., height, width, and space) as well as operating conditions (e.g., contact load and sliding speed) were systematically investigated for probing optimal anchoring function of the parallel line patterned EE.

Original languageEnglish
Pages (from-to)1308-1316
Number of pages9
JournalACS Applied Materials and Interfaces
Issue number5
Publication statusPublished - 2010 May 26

All Science Journal Classification (ASJC) codes

  • Materials Science(all)


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