Is there solid-on-solid contact in a sphere-wall collision in a viscous fluid?

We study experimentally the collision between a sphere falling through a viscous fluid, and a solid plate below. It is known that there is a well-defined threshold Stokes number above which the sphere rebounds from such a collision. Our experiment tests for direct contact between the colliding bodies, and contrary to prior theoretical predictions, shows that solid-on-solid contact occurs even for Stokes numbers just above the threshold for rebounding. The dissipation is fluid-dominated, though details of the contact mechanics depend on the surface and bulk properties of the solids. Our experiments and a model calculation indicate that mechanical contact between the two colliding objects is generic and will occur for any realistic surface roughness.
Comment: 12 pages, 11 figures