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A continuum-based computational contact model is employed to study coupledadhesion and friction in gecko spatulae. Nonlinear finite element analysis iscarried out to simulate spatula peeling from a rigid substrate. It is shownthat the "frictional adhesion" behavior, until now only observed from seta totoe levels, is also present at the spatula level. It is shown that forsufficiently small spatula pad thickness, the spatula detaches at a constantangle known as the critical detachment angle irrespective of the peeling andshaft angles. The spatula reaches the same energy states at the jump-offcontact point, which directly relates to the invariance of the criticaldetachment angle. This study also reveals that there is an optimum padthickness associated with the invariance of the critical detachment angle. Itis further observed that the sliding of the spatula pad is essential for theinvariance of the critical detachment angle.

On the presence of a critical detachment angle in gecko spatula peeling -- A numerical investigation using an adhesive friction model