Onset of frictional sliding of rubber-glass contact under dry and lubricated conditions

Creasing in microscale, soft static friction

Utilizing colloidal probe, lateral force microscopy and simultaneous confocal microscopy, combined with finite element analysis, we investigate how a microparticle starts moving laterally on a soft, adhesive surface. We find that the surface can form a self-contacting crease at the leading front, which results from a buildup of compressive stress. Experimentally, creases are observed on substrates that exhibit either high or low adhesion when measured in the normal direction, motivating the use of simulations to consider the role of adhesion energy and interfacial strength. Our simulations illustrate that the interfacial strength plays a dominating role in the nucleation of a crease. After the crease forms, it progresses through the contact zone in a Schallamach wave-like fashion. Interestingly, our results suggest that this Schallamach wave-like motion is facilitated by free slip at the adhesive, self-contacting interface within the crease.

Mechanisms of Friction Reduction in Longitudinal Ultrasonic Surface Haptic Devices With Non-Collinear Vibrations and Finger Displacement

Friction reduction using ultrasonic longitudinal surface vibration can modify the user perception of the touched surface and induce the perception of textured materials. In the current paper, the mechanisms of friction reduction using longitudinal vibration are analyzed at different finger exploration velocities and directions over a plate. The development of a non-Coulombic adhesion theory based on experimental results is evaluated as a possible explanation for friction reduction with vibrations that are non-collinear with the finger displacement. Comparison with experimental data shows that the model adequately describes the reduction in friction, although it is less accurate for low finger velocities and depends on motion direction.

Transient modelling of impact driven needle-free injectors

Needle-free jet injectors (NFJIs) are one of the alternatives to hypodermic needles for transdermal drug delivery. These devices use a high-velocity jet stream to puncture the skin and deposit drugs in subcutaneous tissue. NFJIs typically exhibit two phases of jet injection - namely - an initial peak-pressure phase (< 5 ms), followed by a constant jet speed injection phase (≳ 5 ms). In NFJIs, jet velocity and jet diameter are tailored to achieve the required penetration depth for a particular target tissue (e.g., intradermal, intramuscular, etc.). Jet diameter and jet velocity, together with the injectant volume, guide the design of the NFJI cartridge and thus the required driving pressure. For device manufacturers, it is important to rapidly and accurately estimate the cartridge pressure and jet velocities to ensure devices can achieve the correct operational conditions and reach the target tissue. And thus, we seek to understand how cartridge design and fluid properties affect the jet velocity and pressure profiles in this process. Starting with experimental plunger displacement data, transient numerical simulations were performed to study the jet velocity profile and stagnation pressure profile. We observe that fluid viscosity and cartridge-plunger friction are the two most important considerations in tailoring the cartridge geometry to achieve a given jet velocity. Using empirical correlations for the pressure loss for a given cartridge geometry, we extend the applicability of an existing mathematical approach to accurately predict the jet hydrodynamics. By studying a range of cartridge geometries such as asymmetric sigmoid contractions, we see that the power of actuation sources and nozzle geometry can be tailored to deliver drugs with different fluid viscosities to the intradermal region.

Electroless Deposition of Ni-P Coatings on HNBR for Low Friction Rubber Seals

This paper reports a simple and cost-effective procedure to coat hydrogenated nitrile butadiene rubber (HNBR) with a well-adherent Ni-P film by using the electroless plating method. A HNBR surface functionalization process was first optimized, creating an interpenetrating network with polyvinylpyrrolidone (PVP). Silver nanoparticles were deposited on PVP and acted as catalysts for the Ni-P film deposition, eliminating the expensive tin-palladium sensitization/activation step. A homogeneous, low phosphorous Ni-P film was obtained after 60–120 min of plating in an alkaline bath, with an average thickness of 3 to 10 µm, respectively. The PVP internetwork played an important role on the strong adhesion of the film, 1.0 ± 0.5 MPa. The tribological behavior of Ni-P-plated HNBR samples was studied for 1, 5 and 10 N applied loads under dry sliding on a pin-on-disc configuration and the coefficient of friction (CoF) was reduced by ~30–49%, compared to uncoated HNBR (loads 1–5N). Based on these results, Ni-P-coated rubber can be regarded as a novel solution for enhancement of the tribological behavior of dynamic seals; it can be regarded as a means to avoid machinery failure. This method offers an alternative to the diamond-like carbon (DLC) coatings.

MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot

Emerging worm-like soft robots with various soft materials and different actuation mechanism have been frequently discussed. It is very challenging for soft robots in realizing a fast and untethered crawling. In this article, a biomimetic magnet embedded worm-like robot (shorted as "MagWorm") in the size of centimeter level is designed and investigated. The actuation of the MagWorm is achieved by housing permanent magnetic patches in its soft body, which interact with an external moving drive-magnet system. A dynamic model is established, coupling the discrete elastic rod model with magnetic actuation. The driving mechanism is then numerically studied. Quantitative comparisons between the numerical solution and experiment results show reasonable agreement. It is shown that the MagWorm can deform part of its body into a "Ω" shape and generate biomimetic crawling locomotion. The crawling speed of the robot is studied experimentally with different sizes. Some potential applications are also proposed and demonstrated. The MagWorm represents compact and low-cost solutions that use permanent magnets for remote actuation of soft robot and can be continuously operated during long procedures.

Capillary-driven indentation of a microparticle into a soft, oil-coated substrate

Small scale contact between a soft, liquid-coated layer and a stiff surface is common in many situations, from synovial fluid on articular cartilage to adhesives in humid environments. Moreover, many model studies on soft adhesive contacts are conducted with soft silicone elastomers, which possess uncrosslinked liquid molecules (i.e. silicone oil) when the modulus is low. We investigate how the thickness of a silicone oil layer on a soft substrate relates to the indentation depth of glass microspheres in contact with crosslinked PDMS, which have a modulus of <10 kPa. The particles indent into the underlying substrate more as a function of decreasing oil layer thickness. This is due to the presence of the liquid layer at the surface that causes capillary forces to pull down on the particle. A simple model that balances the capillary force of the oil layer and the minimal particle-substrate adhesion with the elastic and surface tension forces from the substrate is proposed to predict the particle indentation depth.