Contact area

About: Contact area is a research topic. Over the lifetime, 12358 publications have been published within this topic receiving 256401 citations. The topic is also known as: contact patch & contact region.

A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor

Abstract: This paper proposes a new computationally fast algorithm for classifying the primitive shape and pose of the local contact area in real-time using a tactile array sensor attached on a robotic fingertip. The proposed approach abstracts the lower structural property of the tactile image by analyzing the covariance between pressure values and their locations on the sensor and identifies three orthogonal principal axes of the pressure distribution. Classifying contact shapes based on the principal axes allows the results to be invariant to the rotation of the contact shape. A naive Bayes classifier is implemented to classify the shape and pose of the local contact shapes. Using an off-shelf low resolution tactile array sensor which comprises of 5×9 pressure elements, an overall accuracy of 97.5% has been achieved in classifying six primitive contact shapes. The proposed method is very computational efficient (total classifying time for a local contact shape = 576µs (1736 Hz)). The test results demonstrate that the proposed method is practical to be implemented on robotic hands equipped with tactile array sensors for conducting manipulation tasks where real-time classification is essential.

Elastic contact mechanics: percolation of the contact area and fluid squeeze-out.

Abstract: The dynamics of fluid flow at the interface between elastic solids with rough surfaces depends sensitively on the area of real contact, in particular close to the percolation threshold, where an irregular network of narrow flow channels prevails. In this paper, numerical simulation and experimental results for the contact between elastic solids with isotropic and anisotropic surface roughness are compared with the predictions of a theory based on the Persson contact mechanics theory and the Bruggeman effective medium theory. The theory predictions are in good agreement with the experimental and numerical simulation results and the (small) deviation can be understood as a finite-size effect. The fluid squeeze-out at the interface between elastic solids with randomly rough surfaces is studied. We present results for such high contact pressures that the area of real contact percolates, giving rise to sealed-off domains with pressurized fluid at the interface. The theoretical predictions are compared to experimental data for a simple model system (a rubber block squeezed against a flat glass plate), and for prefilled syringes, where the rubber plunger stopper is lubricated by a high-viscosity silicon oil to ensure functionality of the delivery device. For the latter system we compare the breakloose (or static) friction, as a function of the time of stationary contact, to the theory prediction.

Designing Bio‐Inspired Adhesives for Shear Loading: From Simple Structures to Complex Patterns

Abstract: The gecko has inspired numerous synthetic adhesive structures, yet under shear loading conditions, general design criteria remains underdeveloped. To provide guidance for bio-inspired adhesives under shear, a simple scaling theory is used to investigate the relevant geometric and material parameters. The total compliance of an elastic attachment feature is described over many orders of magnitude in aspect ratio through a single continuous function using the superposition of multiple deformation modes such as bending, shear deformation, and tensile elongation. This allows for force capacity predictions of common geometric control parameters such as thickness, aspect ratio, and contact area. This superposition principal is extended to develop criteria for patterned interfaces under shear loading. Importantly, the adhesive patterns under shear are controlled through the compliance in the direction of loading. These predictions are confirmed experimentally using macroscopic building blocks over an extensive range of aspect ratio and contact area. Over 25 simple and complex patterns with various contact geometries are examined, and the effect of geometry and material properties on the shear adhesion behavior is discussed. Furthermore, all of these various attachment features are described with a single scaling parameter, offering control over orders of magnitude in adhesive force capacity for a variety of applications.