Publications related to Contact force

Load cell with positive, negative and zero stiffness operating modes for milli- to nanonewton contact force monitoring in electrical probing

Monolithic integrated circuits (ICs) have been miniaturized over the past five decades, and today their components range in size from hundreds of microns to several nanometers. Making point contact with electrical samples under a microscope is referred to ...

EPFL2022

Active load cell with positive, negative and zero stiffness operating modes for micronewton range contact force monitoring in electrical probing

Simon Nessim Henein, Charles Baur, Hubert Pierre-Marie Benoît Schneegans, Michal Stanislaw Smreczak

This article describes a novel method for applying a contact force in the range of 1 to 100 μN with pointed probe on a microscale sample in order to perform ohmic electrical measurements. The solution is based on the new TIVOT active load cell combining th ...

2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Multi-scale modeling of aggregate interlock phenomena in concrete

Mohit Pundir

In concrete structures, opened cracks contribute significantly to the transfer of shear and normal stresses through the contact forces occurring between fractured surfaces. Such contact forces are due to protruding asperities, engaged by interlocking and f ...

EPFL2021

Analysis and Transfer of Human Movement Manipulability in Industry-like Activities

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of the execution of ...

IEEE2020

On the debris-level origins of adhesive wear

Jean-François Molinari, Ramin Aghababaei, Derek Warner

Every contacting surface inevitably experiences wear. Predicting the exact amount of material loss due to wear relies on empirical data and cannot be obtained from any physical model. Here, we analyze and quantify wear at the most fundamental level, i.e., ...

Natl Acad Sciences2017

Friction law and hysteresis in granular materials

Matthieu Wyart, Eric DeGiuli

The macroscopic friction of particulate materials often weakens as the flow rate is increased, leading to potentially disastrous intermittent phenomena including earthquakes and landslides. We theoretically and numerically study this phenomenon in simple g ...

National Academy of Sciences2017

Permanent Magnet-Assisted Omnidirectional Ball Drive

Pierre Dillenbourg, Wafa Monia Benkaouar Johal, Ayberk Özgür

We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios where the users are expected to physically ...

IEEE2016

Effect of particle collisions in dense suspension flows

Matthieu Wyart

We study nonlocal effects associated with particle collisions in dense suspension flows, in the context of the Affine Solvent Model, known to capture various aspects of the jamming transition. We show that an individual collision changes significantly the ...

Amer Physical Soc2016

Simulation of Silt Erosion Using Particle-Based Methods

Ebrahim Jahanbakhsh

Increasing demand for clean sources of energy have forced electricity providers to paymore attention to their hydropower assets. Silt erosion is a destructive phenomenon that may occur in hydropower plants. The power plant subjected to silt erosion require ...

EPFL2014

Influence de la précontrainte sur la résistance au poinçonnement de dalles en béton armé

Thibault Clément

Flat slabs are commonly used in Switzerland but also in north America and in many European countries. Slab bridges are also a typical solution for crossing of motorways for example. In both cases, supporting a slab by columns is justified by the simplicity ...

EPFL2012

Screening of the factors influencing frictional interactions between a cylindrical tip and the cardiac wall using factorial analysis

Hannes Bleuler, Giulio Rognini, Lionel Flaction, Bandar Muntazar Hakim

Knowledge of frictional forces acting on the tips of minimally invasive medical devices is important in the design and simulation of such devices. Moreover, several studies have shown that uncontrolled frictional forces can induce damage to organs. The goa ...

Elsevier2012

Concept, modeling and experimental characterization of the modulated friction inertial drive (MFID) locomotion principle : application to mobile microrobots

Walter Driesen

A mobile microrobot is defined as a robot with a size ranging from 1 in3 down to 100 µm3 and a motion range of at least several times the robot's length. Mobile microrobots have a great potential for a wide range of mid-term and long-term applications such ...

EPFL2008