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The complex physics behind electroadhesion-based tactile displays poses an enormous modeling challenge since not only the fingerpad structure with multiple nonlinear layers, but also the roughness at the microscopic scale play a decisive role. To investigate tactile perception, a potential model should also offer the possibility to extract mechanical stimuli at the sites of the relevant mechanoreceptors. In this paper, we present a two-scale approach that involves a finite element model (FEM) at the macroscopic scale and a simple bearing area model (BAM) that accounts for the measured roughness on the papillary ridges. Both separate scales couple in an iterative way using the concept of an equivalent air gap. We show that the electroadhesion-induced changes in friction and contact area predicted by the proposed model are in qualitative agreement with recent experimental studies. In a simple example, we demonstrate that the model can readily be extended by a neural dynamics model to investigate the tactile perception of electroadhesion., 22 pages, 9 figures

Surfaces showing macroscopic adhesion are rare in industry but are abundant in Nature. Adhesion enhancement has been discussed mostly with geometrical systems (e.g. patterned surfaces), more rarely...

The current push toward lightweight structures in aerospace and aeronautical engineering is leading to slender design airfoils, which are more likely to undergo large deformation, hence experiencing geometrical nonlinearities. The problem of vibration localization in a rotor constituted by N coupled airfoils with plunge and pitch degrees of freedom subjected to flutter instability is considered. For a single airfoil, it is shown that depending on the system parameters, multiple static and dynamic equilibria coexist which may be a fixed point, a limit cycle, or irregular motion. By elastically coupling N airfoils, a simplified rotor model is obtained. The nonlinear dynamical response of the rotor is studied via time integration with particular attention to the emergence of localized vibrating solutions, which have been classified introducing a localization coefficient. Finally, the concept of basin stability is exploited to ascertain the likelihood of the system to converge to a certain localized state as a function of the airstream velocity. We found that homogeneous and slightly localized states are more likely to appear with respect to strongly localized states.

International audience; In this paper, we apply the previously developed Method of Memory Diagrams (MMD) to the description of an axisymmetric mechanical contact with friction subject to random vibrations. The MMD belongs to a family of semi-analytical methods of contact mechanics originating from the classical Cattaneo-Mindlin solution; it allows one to efficiently compute mechanical and energetic responses to complex excitation signals such as random or acoustic ones. For an axisymmetric contact driven by random normal and tangential displacements having fractal statistical properties, we calculate the friction-induced mechanical energy loss averaged over a large number of realizations. In the considered problem, this energy depends on a very restrained number of parameters: on the rms of random displacements, on the fractal dimension, and on the upper cut-off frequency of the fractal spectrum. In addition, a radial distribution of the dissipated energy has been obtained that has a direct relation to wear in the contact system. For small displacement amplitudes, wear should be expected in an annulus inside of a mean contact circle whereas for large displacements it will start at the contact center.

An axisymmetric frictionless adhesive contact problem for a spherical indenter pressed against an isotropic elastic incompressible half-space under equibiaxial stretching is studied in the ...

The coefficient of friction due to bulk viscoelastic losses corresponding to multiscale roughness can be computed with Persson's theory. In the search for a more complete understanding of the parametric dependence of the friction coefficient, we show asymptotic results at low or large speed for a generalized Maxwell viscoelastic material, or for a material showing power law storage and loss factors at low frequencies. The ascending branch of friction coefficient at low speeds highly depends on the rms slope of the surface roughness (and hence on the large wave vector cutoff), and on the ratio of imaginary and absolute value of the modulus at the corresponding frequency, as noticed earlier by Popov. However, the precise multiplicative coefficient in this simplified equation depends in general on the form of the viscoelastic modulus. Vice versa, the descending (unstable) branch at high speed mainly on the amplitude of roughness, and this has apparently not been noticed before. Hence, for very broad spectrum of roughness, friction would remain high for quite few decades in sliding velocity. Unfortunately, friction coefficient does not depend on viscoelastic losses only, and moreover there are great uncertainties in the choice of the large wave vector cutoff, which affect friction coefficient by orders of magnitudes, so at present these theories do not have much predictive capability.

In the present paper, we consider a recent very simple model for the estimate of adhesion between elastic (hard) rough solids with Gaussian multiple scales of roughness (BAM, Bearing Area Model), and compare it in particular with very recent extensive results from the numerical method of Joe, Thouless and Barber (JTB theory), in the range of non-hysteretic behaviour. BAM shows no sensitiveness to rms slopes and curvatures for the pull-off load or the apparent surface energy, in agreement with the JTB theory, but in contrast with the criterion proposed by Pastewka and Robbins for stickiness, especially in the fractal limit. Results show also reasonable accuracy with the JTB theory, and BAM theory is simpler than that of Persson and Scaraggi which involves convolution of adhesion tractions in the regions of separation.

Adhesion and, its interplay with friction, is central in several engineering applications involving soft contacts. Recently, there has been an incredible push towards a better understanding on how the apparent contact area evolves when a shear load is applied to an adhesive soft contact, both experimentally and theoretically. Although soft materials are well-known to exhibit rate-dependent properties, there is still a lack of understanding in how the loading rate could affect the contact area shrinking. Indeed, most of the experiments involving a sphere-flat contact have been conducted at a fixed loading rate, and, so far, analytical models have assumed a constant work of adhesion, independent on the peeling velocity. Here, by using linear elastic fracture mechanics, an analytical model is derived for the contact of a rigid sphere on a soft adhesive substrate, which is aimed at elucidating the effect that a rate-dependent work of adhesion has on the contact area shrinking. The model results show that contact area reduction is very sensitive to the loading rate, with slower loading rates promoting a stronger shrinking, which seems in agreement with Literature results. Furthermore it is shown that rate effects enhance the apparent interfacial toughness, i.e. more energy is needed to drive the system from full stick up to gross sliding.

Recently, Dalvi and co-authors have shown detailed experimental data of adhesion of soft spheres with rough substrates with roughness measured down to almost the atomic scale, finding that the Persson and Tosatti theory gave satisfactory predictions of the apparent work of adhesion during loading, once the increase of the surface area due to roughness is correctly computed at extremely small scales. We show that unloading data would show similar correlation with the Persson–Tosatti’s simple criterion, but for a much larger effective work of adhesion, which therefore becomes not an “intrinsic” property. This suggests either strong hysteresis even at apparently very low peeling velocities or the need to use a criterion that has different behavior during loading and unloading. We attempt this inspired by the results of Guduru for a simple case of axisymmetric waviness, and a much better fit of the experimental data by Dalvi and co-authors is obtained using the entire set of data at loading and unloading, even assuming a single work of adhesion value. However, we cannot rule out that both (viscoelastic) and (roughness-induced) enhancement effects coexist in these data.

Mode-coupling instabilities are known to trigger self-excited vibrations in sliding contacts. Here, the conditions for mode-coupling (or “flutter”) instability in the contact between a spherical oscillator and a moving viscoelastic substrate are studied. The work extends the classical 2-Degrees-Of-Freedom conveyor belt model and accounts for viscoelastic dissipation in the substrate, adhesive friction at the interface and nonlinear normal contact stiffness as derived from numerical simulations based on a boundary element method capable of accounting for linear viscoelastic effects. The linear stability boundaries are analytically estimated in the limits of very low and very high substrate velocity, while in the intermediate range of velocity the eigenvalue problem is solved numerically. It is shown how the system stability depends on externally imposed parameters, such as the substrate velocity and the normal load applied, and on contact parameters such as the interfacial shear strength $$\tau _{0}$$ τ 0 and the viscoelastic friction coefficient. In particular, for a given substrate velocity, there exist a critical shear strength $$\tau _{0,crit}$$ τ 0 , c r i t and normal load $$F_{n,crit}$$ F n , c r i t , which trigger mode-coupling instability: for shear stresses larger than $$\tau _{0,crit}$$ τ 0 , c r i t or normal load smaller than $$F_{n,crit}$$ F n , c r i t , self-excited vibrations have to be expected.

Experimental results on nonlinear vibration localization in a cyclic chain of weakly coupled oscillators with clearance nonlinearity are reported. Numerical modelling and analysis complements the experimental study. A reduced order model is derived and numerical analysis based on the harmonic balance method demonstrates the existence of multiple classes of stable spatially localized nonlinear vibration states. The experiments agree very well with the numerical results. The findings suggest that vibration localization due to fundamentally nonlinear effects may also arise in mechanical structures with relevance in engineering.

We derive a very simple and effective stickiness criterion for solids having random roughness using a new asymptotic theory, which we validate with that of Persson and Scaraggi and independent numerical experiments. Previous claims that stickiness may depend on small scale quantities such as rms slopes and/or curvatures, obtained by making oversimplified assumptions on the contact area geometry, are largely incorrect, as the truncation of the PSD spectrum of roughness at short wavelengths is irrelevant. We find stickiness is destroyed typically at roughness amplitudes up to three orders of magnitude larger than the range of attractive forces. With typical nanometer values of the latter, the criterion gives justification to the qualitative well known empirical Dalhquist criterion for stickiness which demands adhesives to have elastic modulus lower than about 1MPa. The results clarifies a much debated question in both the scientific and technological world of adhesion, and may serve as benchmark for better comprehension of the role of roughness.

Unstable friction-induced vibrations are considered an annoying problem in several fields of engineering. Although several theoretical analyses have suggested that friction-excited dynamical systems may experience sub-critical bifurcations, and show multiple coexisting stable solutions, these phenomena need to be proved experimentally and on continuous systems. The present work aims to partially fill this gap. The dynamical response of a continuous system subjected to frictional excitation is investigated. The frictional system is constituted of a 3D printed oscillator, obtained by additive manufacturing that slides against a disc rotating at a prescribed velocity. Both a finite element model and an experimental setup has been developed. It is shown both numerically and experimentally that in a certain range of the imposed sliding velocity the oscillator has two stable states, i.e. steady sliding and stick–slip oscillations. Furthermore, it is possible to jump from one state to the other by introducing an external perturbation. A parametric analysis is also presented, with respect to the main parameters influencing the nonlinear dynamic response, to determine the interval of sliding velocity where the oscillator presents the two stable solutions, i.e. steady sliding and stick–slip limit cycle.

A number of authors have experimentally assessed the influence of friction on adhesive contacts, and generally the contact area has been found to decrease due to tangential shear stresses at the interface. The decrease is however generally much smaller than that predicted already by the Savkoor and Briggs 1977 classical theory using “brittle” fracture mechanics mixed mode model extending the JKR (Griffith like) solution to the contact problem. The Savkoor and Briggs theory has two strong assumptions, namely that (i) shear tractions are also singular at the interface, whereas they have been found to follow a rather constant distribution, and that (ii) no dissipation occurs in the contact. While assumption (ii) has been extensively discussed in the Literature the role of assumption (i) remained unclear. We show that assuming entirely reversible slip at the interface with a constant shear stress fracture mechanics model leads to results almost indistinguishable from the Savkoor and Briggs model (and further in disagreement with experiments), hence it is assumption (ii) that critically affects the results. We analyze a large set of experimental data from Literature and show that the degree of irreversibility of friction can vary by orders of magnitude, despite similar materials and geometries, depending on the velocity at which the tangential load is applied.

Electroadhesion is a very hot topic in tribology due to its implications for the science of surface haptics. Building on theories of Persson, we develop a simpler theory for electroadhesion between rough surfaces using the bearing area model of Ciavarella. The theory is derived for the cases of conducting and insulating bodies and shows that pull-off forces depend mostly on the applied voltage, the surface root mean square (RMS) height, and the longest wavelength in the surface representation. However, the real contact area and friction additionally depend on rms slopes and hence on truncation of the roughness spectrum. Two stickiness criteria are derived based on the present theory and on the energy balance proposed by Persson and Tosatti. The coefficient of friction decays with the normal pressure, tending to a plateau in a manner consistent with existing experiments. Italian Ministry of Education, University and Research Deutsche Forschungsgemeinschaft (DFG)

Thermoelastic instabilities (TEI) occur in sliding bodies at sufficiently high speed because a small thermoelastic disturbance tends to localize the contact, leading to “hot spots.” The role that wear plays in TEI has been studied briefly and only on highly idealized cases. We extend and complete in detail a model of Dow and Burton who studied the specific configuration of a blade sliding on a rigid half-space normal to its line of contact. We find there is a limit value of wear coefficient that can be estimated by simple equations, above which TEI is completely eliminated. In the limiting case of non-conducting half-space, it depends linearly on thermal expansion, diffusivity, and friction coefficient and inversely on the conductance of the material of the sliding body. This may not always be in the practical range, but when considering conductance of the half-space, the limit wear can be lowered arbitrarily so as to be viable. In some applications, it may be possible to increase wear to reduce or suppress TEI. Hence, the common assumption of neglecting wear in simulations of sliding contacts with TEI and hotspots should be taken with care, and the present results give some important benchmarks.

Simple exact solutions are known for the indentation problem of a viscoelastic halfspace by a rigid sphere only as long as the contact area is growing. We consider instead a more general cyclic repeated indentation with a pulsating load with a period of zero load. We show that a combination of exact with empirical relaxation solutions coming from simple uniaxial cases is sufficiently accurate to estimate the energy dissipated per cycle, which we report for the standard ”3-elements” solid and periodic half-sine loading for various parameters. The theoretical predictions favorably compare with boundary element numerical simulations. We find more energy is dissipated during the first indentation cycle with respect to the subsequent ones, due to the residual indentation left in the viscoelastic half-space. In load controlled systems, the maximum dissipation is reached at an angular frequency that is close to the reciprocal of the relaxation time of the material both for the first and subsequent cycles, but this is in general not true when displacement controlled systems are considered, when dissipation is much lower for subsequent cycles.

As often done in design practice, the Wöhler curve of a specimen, in the absence of more direct information, can be crudely retrieved by interpolating with a power-law curve between static strength at a given conventional low number of cycles N0 (of the order of 10-103), and the fatigue limit at a “infinite life”, also conventional, typically N∞=2·106 or N∞=107 cycles. These assumptions introduce some uncertainty, but otherwise both the static regime and the infinite life are relatively well known. Specifically, by elaborating on recent unified treatments of notch and crack effects on infinite life, and using similar concepts to the static failure cases, an interpolation procedure is suggested for the finite life region. Considering two ratios, i.e. toughness to fatigue threshold FK=KIc/DKth, and static strength to endurance limit, FR =sR /Ds0, qualitative trends are obtained for the finite life region. Paris’ and Wöhler’s coefficients fundamentally depend on these two ratios, which can be also defined “sensitivities” of materials to fatigue when cracked and uncracked, respectively: higher sensitivity means stringent need for design for fatigue. A generalized Wöhler coefficient, k’, is found as a function of the intrinsic Wöhler coefficient k of the material and the size of the crack or notch. We find that for a notched structure, k

International audience; Friction-induced vibrations are known to affect many engineering applications. Here, we study a chain of friction-excited oscillators with nearest neighbor elastic coupling. The excitation is provided by a moving belt which moves at a certain velocity v d while friction is modelled with an exponentially decaying friction law. It is shown that in a certain range of driving velocities, multiple stable spatially localized solutions exist whose dynamical behavior (i.e. regular or irregular) depends on the number of oscillators involved in the vibration. The classical non-repeatability of friction-induced vibration problems can be interpreted in light of those multiple stable dynamical states. These states are found within a "snaking-like" bifurcation pattern. Contrary to the classical Anderson localization phenomenon, here the underlying linear system is perfectly homogeneous and localization is solely triggered by the friction nonlinearity.

By integrating the simple deterministic Paris’ law from a distribution of initial defects, in the form of a Frechet extreme value distribution, it was known that a distribution of Weibull distribution of fatigue lives follows exactly. However, it had escaped previous researchers that the shape parameter of this distribution tends to very high values (meaning the scatter is extremely reduced) when Paris’ exponent m approaches 2, leading to the exponential growth of cracks with number of cycles. In view of the fact that values close to m = 2 are of great importance in materials for example used for primary aircraft structures as recognized by some certification requirements (and the so-called “lead crack” methodology), we believe this conclusion may have some immediate relevance for damage tolerance procedures, or certification methods where accurate description of scatter is required. Indeed, we extend the result also to the case when Paris’ constant C is distributed, and give also an estimate of the level of scatter expected in propagation life in the most general case when C, m are both random variate alongwith the defect size distribution, based on first transforming them to uncorrelated form C0, m, and validate this with the famous Virkler set of data. We finally discuss that from known typical values of fatigue life scatter of aeronautical alloys, it is very likely that an important contribution comes from short crack growth.

Viscoelastic materials are receiving increasing attention in soft robots and pressure sensitive adhesives design, but also in passive damping techniques in automotive and aerospace industry. Here, by using the correspondence principle originally developed by Lee and Radok and further extended by Ting and Greenwood, we transform the elastic solutions of Persson for contact of nominally flat but randomly rough surfaces to viscoelastic indentation. As an example, the cases of step loading and of the response to a single cycle of harmonic loading are studied. For the latter, the effect of the loading frequency, of the ratio between the rubbery and the glassy moduli of the material, and of the mean normal load on the dissipated energy per cycle is studied in detail for a standard viscoelastic material. The results shown are significant for the engineering applications involving cyclic indentation of soft materials, such as in tire-road contact, seals, pick-and-place manipulators and grippers

Crack propagation in viscoelastic materials has been understood with the use of Barenblatt cohesive models by many authors since the 1970’s. In polymers and metal creep, it is customary to assume that the relaxed modulus is zero, so that we have typically a crack speed which depends on some power of the stress intensity factor. Generally, when there is a finite relaxed modulus, it has been shown that the “apparent” toughness in a semi-infinite crack increases between a value at very low speeds at a threshold toughness w 0 , to a very fast fracture value at w ∞ , and that the enhancement factor in infinite systems (where the classical singular fracture mechanics field dominates) simply corresponds to the ratio of instantaneous to relaxed elastic moduli. Here, we apply a cohesive model for the case of a bimaterial interface between an elastic and a viscoelastic material, assuming the crack remains at the interface, and neglect the details of bimaterial singularity. For the case of a Maxwell material at low speeds the crack propagates with a speed which depends only on viscosity, and the fourth power of the stress intensity factor, and not on the elastic moduli of either material. For the Schapery type of power law material with no relaxation modulus, there are more general results. For arbitrary viscoelastic materials with nonzero relaxed modulus, we show that the maximum “effective” toughness enhancement will be reduced with respect to that of a classical viscoelastic crack in homogeneous material.

There has been a long debate about the validity of asperity models in the contact between rough surfaces, much of it concentrated on relatively minor aspects of the solution for the special case of Gaussian random processes for roughness, like the exact value of the area-load slope or the extent of the linear regime. It is shown here that in the case of adhesion, the behavior is extremely sensitive to the shape of the height distribution. We show for example results for Weibull distributions, which has been suggested in a number of practical cases from macroscopic to nanoscopic roughness. Pull-off force is found to vary by several orders of magnitude both lower and higher than in the Gaussian case, whereas the "stickiness" criterion on the adhesion parameter changes by an order of magnitude. Additionally, in some operations like chemical-mechanical polishing, tails are almost completely removed and a sharp peak develops instead of a tail: modeling this with contact on the bounded side of the Weibull distribution, stickiness seems to occur for any level of roughness. Pome qualitative comparison with recent numerical experiments is attempted.

The dynamical behavior of a single-degree-of-freedom system that experiences friction-induced vibrations is studied with particular interest on the possibility of the so-called hard effect of a subcritical Hopf bifurcation, using a velocity weakening–strengthening friction law. The bifurcation diagram of the system is numerically evaluated using as bifurcation parameter the velocity of the belt. Analytical results are provided using standard linear stability analysis and nonlinear stability analysis to large perturbations. The former permits to identify the lowest belt velocity $$({v_\mathrm{lw}})$$ at which the full sliding solution is stable, the latter allows to estimate a priori the highest belt velocity at which large amplitude stick–slip vibrations exist. Together the two boundaries $$[v_\mathrm{lw}, v_\mathrm{up}] $$ define the range where two equilibrium solutions coexist, i.e., a stable full sliding solution and a stable stick–slip limit cycle. The model is used to fit recent experimental observations.

It is shown that even small deviations from the ideal Gaussian random roughness case seem to lead to dramatic increase in adhesion of rough surfaces: this could be due to a finite number of asperities, or to a finite tail in the height distribution, particularly realistic at low fractal dimensions D, which is the case of most practical interest. It is emphasized that the assumption of a perfect Gaussian heigth distribution, including infinite tails, may be a strong one when studying adhesion in rough surfaces.

Recent numerical investigation on self-affine Gaussian surfaces by Pastewka and Robbins (PR) has led to a criterion for “stickiness” based on when the slope of the (repulsive) area–load relationship appears to become vertical in numerical simulations at a ratio of contact area to nominal one (rather arbitrarily) fixed to 1%. Since pull-off and slope of the area–load are two faces of the same medal, a simple check of the results in terms of pull-off shows that PR have many more data which fail their criterion than the ones that satisfy it, and this is evident even in their own figures. As a small improvement, a proposal to modify the criterion to better fit their own data is put forward. However, the pull-off decay seems rather exponential so that it is unclear if their slope criterion really corresponds to a “thermodynamic” limit, and consequently their conclusion that stickiness should depend only on slopes and curvature may be an artifact of their assumption of defining a secant at 1% contact ar...

A simple asperity model using random process theory is developed in the presence of adhesion, using the Derjaguin, Muller and Toporov model for each individual asperity. A new adhesion parameter is found, which perhaps improves the previous parameter proposed by Fuller and Tabor which assumed identical asperities – the model in all his variants for the radius always gives a finite pull-off force, as in Fuller and Tabor, and contrary to the exponential asperity height distribution, where the force is either always compressive, or always tensile. It is shown that a model with spheres having a radius only dependent on height is a reasonable approximation with respect to models having also a distribution of radius curvatures – the three models differ considerably, as opposed to the adhesionless case where these details did not matter. The important surface parameters in the theory determining the pull-off force are the three moments m0, m2, m4. The asymptotic form of the model at large separation is s...

We consider a series of flat contact spots distributed over a half-space, for which the pull-off force is proportional to the square root of the total contact area over the elastic compliance. By using an electro-mechanical analogy to compute the compliance using the well-known Greenwood–Holm equation, we show how the pull-off decays for fractal patterns of contact spots with simple scaling laws, tending to zero in a fractal limit, as the contact area goes to zero. Moreover, a qualitative assessment is made for contact of fractal rough surfaces, and it is shown that pull-off in this case is dominated by the value of the contact area reached during the loading process, which depends on the applied load, suggesting pressure-sensitive adhesion.

The eigenfunction method pioneered by Galin (J Appl Math Mech 40: 981–986, 1976) is extended to provide a general solution to the transient evolution of contact pressure and wear of two sliding elastic half-planes, under the assumption that there is full contact and that the Archard–Reye wear law applies. The governing equations are first developed for sinusoidal profiles with exponential growth rates. The contact condition and the wear law lead to a characteristic equation for the growth rate and more general solutions are developed by superposition. The case of general initial profiles can then be written down as a Fourier integral. Decay rates increase with wavenumber, so fine-scale features are worn away early in the process. Qualitative features of the problem are governed by two dimensionless wear coefficients, which for many material combinations are small compared with unity. If one of the bodies does not wear and is non-plane, the system evolves to a non-trivial steady state in which the wearing body acquires a profile which migrates over its surface.

Adhesive contact of the Hertzian indenter with an incompressible elastic substrate bi-directionally stretched along the indenter principal planes of curvature is considered in the Johnson–Kendall–Roberts theoretical framework. An approximate model is constructed by examining energy release rate conditions only on the edges of the minor and major axes of the contact ellipse. The effect of weak coupling between fracture modes I and II is introduced using a phenomenological mode-mixity function. This study was motivated by the need to model a passive–adhesive mechanism in cell mechanics on stretchable substrates.

There is ample evidence of ThermoElastic Instabilities (TEI) occurring in sliding contacts. The very first experiments of JR Barber in 1969 suggested wear interacts in the process of localization of contact into “hot spots”. However, studies on the interaction of TEI with wear are scarce. We consider the case of two sliding halfspaces and make a perturbation analysis permitting the formation of waves migrating over the two bodies, in presence of wear. We find that for exactly identical bodies wear does not affect the stability boundary. In the other limit case of bad conductor against a good conductor, wear tends to suppress TEI completely. Intermediate cases show a complex range of possible effects: for certain thermomechanical properties wear may even reduce the critical speed.

Rubber friction plays a fundamental role in the study of the tire-road interaction and still represents a topic of discussion for both academics and manufacturing companies, especially with the introduction of the concept of multiscale roughness [1, 2]. Taking into account that the road surface is a hard substrate, the two contributions to rubber friction can be considered to be (i) hysteretic phenomena deriving from time dependent viscoelastic deformations of the rubber due to the substrate asperities and (ii) adhesive effects. From the modelling point of view, the estimation of each contribution represents a great challenge, and both formulations are inevitably affected by the presence of empirical constants. For example, hysteretic friction could be in principle computed by a full multiscale Persson’s theory [1, 3], but the latter one ultimately embraces an arbitrary choice of the cutoff frequency value, and, furthermore, the full multiscale theory can be in most cases simplified [4]. The adhesive contribution, instead, remains fundamentally empirically described by fitting functions and parameters, and, despite considerable progress and huge effort in this research field, it continues to represent the greatest challenge as well as to recognize the relative importance of the two contributions [5]. In this work, an analysis of the results obtained with the different formulations available in literature is proposed with particular reference to the empirical constants variability.

The interaction between contact area and frictional forces in adhesive soft contacts is receiving much attention in the scientific community due to its implications in many areas of engineering such as surface haptics and bioinspired adhesives. In this work, we consider a soft adhesive sphere that is pressed against a rigid substrate and is sheared by a tangential force where the loads are transferred to the sphere through a normal and a tangential spring, representing the loading apparatus stiffness. We derive a general linear elastic fracture mechanics solution, taking into account also the interaction between modes, by adopting a simple but effective mixed-mode model that has been recently validated against experimental results in similar problems. We discuss how the spring stiffness affects the stability of the equilibrium contact solution, i.e. the transition to separation or to sliding.