Related papers: Effects of Distributed Friction Actuation During S…
Tribological phenomena are governed by combined effects of material properties, topology and surface-chemistry. We study the interplay of multiscale surface structures with molecular-scale interactions towards interpreting static frictional…
In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is…
We simultaneously measure the static friction and the real area of contact between two solid bodies. Under static conditions both quantities increase logarithmically in time, a phenomenon coined aging. Indeed, frictional strength is…
We study the onset of friction for rough contacting blocks whose interface is coated with a thin lubrication layer. High speed measurements of the real contact area and stress fields near the interface reveal that propagating shear cracks…
We study the influence of the surface energy and contamination films on rubber adhesion and sliding friction. We find that there is a transfer of molecules from the rubber to the substrate which reduces the work of adhesion and makes the…
Frictional motion is harder to initiate than to sustain, as evident when pushing a heavy object. This disparity between static and kinetic friction drives instabilities and stick-slip dynamics in systems ranging from nanodevices and MEMS to…
Friction in static and sliding contact of rough surfaces is important in numerous physical phenomena. We seek to understand macroscopically observed static and sliding contact behavior as the collective response of a large number of…
A host of medical conditions, including amputations, diabetes, stroke, and genetic disease, result in loss of touch sensation. Because most types of sensory loss have no pharmacological treatment or rehabilitative therapy, we propose a…
Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this letter,…
An overview of computer simulations of tribology is presented. The chapter begins with a brief overview of simulation techniques and the special requirements for simulations of tribological processes. Then simple one-dimensional models of…
The ultra-low kinetic friction F_k of 2D structurally superlubric interfaces, connected with the fast motion of the incommensurate moir\'e pattern, is often invoked for its linear increase with velocity v_0 and area A, but never seriously…
Lubrication forces depend to a high degree on elasticity, texture, charge, chemistry, and temperature of the interacting surfaces. Therefore, by appropriately designing surface properties, we may tailor lubrication forces to reduce…
Understanding the interplay between concurrent length scales is a fundamental issue in many problems involving friction between sliding interfaces, from tribology to the study of earthquakes and seismic faults. On the one hand, a…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
The dynamic initiation of sliding at planar interfaces between deformable and rigid solids is studied with particular focus on the speed of the slip front. Recent experimental results showed a close relation between this speed and the local…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
Since it is difficult to apply the existing method of friction and heat flux decomposition on the complex surface, a combined decomposition method of friction and heat flux with clear physical interpretation is proposed, which is based on…
We present a numerical investigation of the size scaling of static friction in incommensurate two dimensional contacts performed for different lateral loading configurations. Results of model simulations show that both the absolute value of…
Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…