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

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.