Elastohydrodynamic friction of robotic and human fingers on soft micropatterned substrates
Elastohydrodynamic friction of robotic and human fingers on soft micropatterned substrates
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DOI：
10.1038/s41563-021-00990-9
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发表时间：
2021-04-29
期刊：
影响因子：
41.2
通讯作者：
Hsiao, Lilian C.
中科院分区：
文献类型：
--
作者：
Peng, Yunhu;Serfass, Christopher M.;Hsiao, Lilian C.
图案表面间的摩擦滑动在软质材料的触觉工程中具有重要的基础和实际意义。在远程手术和软机器人等新兴应用中，固体表面之间的薄流体膜导致固体变形和流体耗散之间的多物理场耦合。在这里，我们报告了一个缩放定律，该定律支配着图案表面上弹性流体动力润滑的峰值摩擦值。这些峰在光滑的摩擦副中是不存在的，是由于润滑剂流动中长度尺度的分离而产生的。该框架是通过改变软摩擦副的几何形状、弹性和流体特性，并用摩擦计测量润滑摩擦产生的。该模型正确地预测了仿生机器人指尖与人类手指之间的弹性流体润滑摩擦。它的广泛适用性可以为未来在现实条件下的机械手或抓取器的设计提供信息，并开辟了将摩擦编码为触觉信号的新方法。软图案表面之间的弹性流体动力润滑框架确定了衬底弹性和图案几何对摩擦的贡献，这对触觉软材料的工程具有重要意义。
Frictional sliding between patterned surfaces is of fundamental and practical importance in the haptic engineering of soft materials. In emerging applications such as remote surgery and soft robotics, thin fluid films between solid surfaces lead to a multiphysics coupling between solid deformation and fluid dissipation. Here, we report a scaling law that governs the peak friction values of elastohydrodynamic lubrication on patterned surfaces. These peaks, absent in smooth tribopairs, arise due to a separation of length scales in the lubricant flow. The framework is generated by varying the geometry, elasticity and fluid properties of soft tribopairs and measuring the lubricated friction with a triborheometer. The model correctly predicts the elastohydrodynamic lubrication friction of a bioinspired robotic fingertip and human fingers. Its broad applicability can inform the future design of robotic hands or grippers in realistic conditions, and open up new ways of encoding friction into haptic signals.A framework for the elastohydrodynamic lubrication between soft patterned surfaces identifies the contributions of substrate elasticity and pattern geometry for friction, which have implications for the engineering of haptic soft materials.