大壁虎斜面运动力学、脚趾外翻脱附力学及其仿生研究 model of synergy among hierarchical kinetic units was established to clarify that the synergy among hierarchical kinetic units was a necessary condition for geckos moving on inverted substrates. By observing the contact mode and measuring the reaction forces between geckos'feet and the substrates,the critical angles between reliable attaching feet and the substrates of various inclinations were measured;a mechanical model of reliable attachment of geckos'feet was also established. Limited by the friction coefficient between geckos'heel and the substrates,geckos could only climbing on slopes of inclination less than 17 without the help of adhesion toes.Limited by the performance of adhesive units,geckos cannot hang on a slope of inclination lager than 120 with single limb,nevertheless,with the help of frictional adhesion property of the feet and the synergy among limbs,locomotion on slope of inclination lager than 120 became possible. With the help of neuroscience,the neural stem of single toe corresponding to the attachment and detachment was stimulated by electric current,no relationship was found between the measured forces and external loading forces when the toe abducted,which indicates that the feet can keep on to support locomotion stalely and reliably during detachment.A model of partitioned non-continuous single toe during abducting detachment was established,which was in good agreement with the experimental results,indicated that the model with cohesion elements was effective and can further inspire the design of bio-inspired adhesive system. Keyword:Gekko gecko,Abducting detachment,reaction force,incline,biomedical,force measuring array (FMA) iv 万方数据大壁虎斜面运动力学、脚趾外翻脱附力学及其仿生研究 iv model of synergy among hierarchical kinetic units was established to clarify that the synergy among hierarchical kinetic units was a necessary condition for geckos moving on inverted substrates. By observing the contact mode and measuring the reaction forces between geckos’ feet and the substrates, the critical angles between reliable attaching feet and the substrates of various inclinations were measured; a mechanical model of reliable attachment of geckos’ feet was also established. Limited by the friction coefficient between geckos’ heel and the substrates, geckos could only climbing on slopes of inclination less than 17° without the help of adhesion toes. Limited by the performance of adhesive units, geckos cannot hang on a slope of inclination lager than 120° with single limb, nevertheless, with the help of frictional adhesion property of the feet and the synergy among limbs, locomotion on slope of inclination lager than 120° became possible. With the help of neuroscience, the neural stem of single toe corresponding to the attachment and detachment was stimulated by electric current, no relationship was found between the measured forces and external loading forces when the toe abducted, which indicates that the feet can keep on to support locomotion stalely and reliably during detachment. A model of partitioned non-continuous single toe during abducting detachment was established, which was in good agreement with the experimental results, indicated that the model with cohesion elements was effective and can further inspire the design of bio-inspired adhesive system. Keyword：Gekko gecko，Abducting detachment，reaction force，incline，biomedical, force measuring array (FMA) 万方数据