Probing the micromechanics of a multi-contact interface at the onset of frictional sliding

Digital Image Correlation is used to study the micromechanics of a multi-contact interface formed between a rough elastomer and a smooth glass surface. The in-plane elastomer deformation is monitored during the incipient sliding regime, i.e. the transition between static and sliding contact. As the shear load is increased, an annular slip region, in coexistence with a central stick region, is found to progressively invade the contact. From the interfacial displacement field, the tangential stress field can be further computed using a numerical inversion procedure. These local mechanical measurements are found to be correctly captured by Cattaneo and Mindlin (CM)s model. However, close comparison reveals significant discrepancies in both the displacements and stress fields that reflect the oversimplifying hypothesis underlying CMs scenario. In particular, our optical measurements allow us to exhibit an elasto-plastic like friction constitutive equation that differs from the rigid-plastic behavior assumed in CMs model. This local constitutive law, which involves a roughness-related length scale, is consistent with the model of Bureau textit{et al.} [Proc. R. Soc. London A textbf{459}, 2787 (2003)] derived for homogeneously loaded macroscopic multi-contact interfaces, thus extending its validity to mesoscopic scales.measurements allow for the first quantitative test of Cattaneo and Mindlin (CM) classical model of the incipient sliding of a smooth interface. Small deviations are observed and interpreted as a result of the finite compliance of the rough interface, a behavior which contrasts with Amontons law of friction assumed to be valid locally in CMs model. We illustrate how these measurements actually provide a method for probing the rheology of the rough interface, which we find to be of the elasto-plastic type.

Texture-induced modulations of friction force: the fingerprint effect

Dry solid friction is often accompanied by force modulations originating from stick-slip instabilities. Here a distinct, quasi-static mechanism is evidenced leading to quasi-periodic force oscillations during sliding contact between an elastomer block, whose surface is patterned with parallel grooves, and finely abraded glass slides. The dominant oscillation frequency is set by the ratio between the sliding velocity and the period of the grooves. A mechanical model is proposed that provides a quantitative prediction for the amplitude of the force modulations as a function of the normal load, the period of the grooves and the roughness characteristics of the substrate. The models main ingredient is the non-linearity of the friction law. Since such non-linearity is ubiquitous for soft solids, this fingerprint effect should be relevant to a large class of frictional configurations and might in particular have important consequences in human (or humanoid) active digital touch.

Perception of Surface Defects by Active Exploration with a Biomimetic Tactile Sensor

We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10 micro-force sensors in an elastomer layer. We measure the sensors response to the passage of elementary topographical features in the form of a small hole on a flat substrate. The response is found to strongly depend on the relative location of the sensor with respect to the substrate/skin contact zone. This result can be quantitatively interpreted within the scope of a linear model of mechanical transduction, taking into account both the intrinsic response of individual sensors and the context-dependent interfacial stress field within the contact zone. Consequences on robotics of touch are briefly discussed.