Normal and Tangential Forces Combine to Convey Contact Pressure during Dynamic Tactile Stimulation

2021 ◽  
Author(s):  
David Gueorguiev ◽  
Julien Lambert ◽  
Jean-Louis Thonnard ◽  
Katherine J. Kuchenbecker
Keyword(s):  
Contact Pressure ◽  
Contact Force ◽  
Tangential Force ◽  
Surface Friction ◽  
Contact Forces ◽  
Force Vector ◽  
Haptic Interactions ◽  
Tangential Forces ◽  
Haptic Stimulation ◽  
Better Than

Abstract Humans need to accurately process the contact forces that arise as they perform everyday haptic interactions, but the mechanisms by which the forces on the skin are represented and integrated remain little understood. In this study, we used a force-controlled robotic platform and simultaneous ultrasonic modulation of the finger-surface friction to briefly and independently manipulate the normal and tangential forces during passive haptic stimulation by a flat surface. When participants were asked whether the contact pressure on their finger had briefly increased or decreased, they could not distinguish the normal force from the tangential force. Instead, they integrated the normal and tangential components of the force vector into a multidimensional computation of the contact force. We additionally investigated whether participants relied on three common contact-force metrics. Interestingly, the change in the amplitude of the force vector predicted participants’ responses better than the change of the coefficient of dynamic friction and the change of the angle of the contact force vector. Thus, intensive cues related to the amplitude of the applied force may be meaningful for the sensing of contact pressure during haptic stimulation by a moving surface.

Contact of Rough Surfaces: Combined Elastic and Rate-Dependent Effects

2008 ◽  
Author(s):  
Ali Sepehri ◽  
Kambiz Farhang
Keyword(s):  
Half Plane ◽  
Contact Force ◽  
Rough Surfaces ◽  
Tangential Force ◽  
Approximation Error ◽  
Tangential Velocity ◽  
Contact Forces ◽  
Tangential Contact ◽  
Force Components ◽  
Approximate Equations

Approximate closed form equations are found for normal and tangential contact forces of rough surfaces in dry friction. Using a viscoelastic asperity behavior, mathematical formulae are derived for normal and tangential components of the contact force that depend not only on the separation of the two surfaces but also the rate of approach and relative sliding. The tangential force over a half-plane, corresponding to the moving direction, is found accounting for the directionality of the tangential component of asperity forces. A statistical approach is forwarded in which dependence of the asperity normal and tangential contact force on relative tangential velocity of two asperities can presented as corrective factors in the mathematical description of normal and tangential force components. These are force directionality corrective coefficient and force-velocity directionality corrective coefficient. Two sets of approximate equations are found for each of the normal and half-plane tangential force components. The simplest forms of the approximate equations achieve accuracy to within five (5) percent error, while other forms yield approximation error within 0.2 percent.

scholarly journals Contact Forces in a Screw Feeding Process

2018 ◽  
Vol 2018 ◽  
pp. 1-6 ◽  
Author(s):  
Yunfei Shi ◽  
Xiliang Zhang ◽  
Shoujuan Cui ◽  
Kui Ma
Keyword(s):  
Contact Force ◽  
Normal Force ◽  
Bulk Material ◽  
Distinct Element ◽  
Tangential Force ◽  
Particle Diameter ◽  
Contact Forces ◽  
Slip Model ◽  
Screw Feeder ◽  
Feeding Process

The contact force between particles is analysed in this paper. Firstly, theoretical analysis is carried out based on the Hertz–Mindlin (no slip) model. Secondly, the normal force and tangential force are, respectively, simulated in single/double-flight screw feeders with the discharging device at three rotating speeds (60 rpm, 90 rpm, and 120 rpm) using different diameter particles (3 mm,  5 mm, and 7 mm) by the extended distinct element method (EDEM) software. Finally, the simulation results show that the particle diameter has the biggest impact on average contact force in the feeding process. This research provides theoretical basis for the study of the rule of bulk material movement in the screw feeder and the development of the high-precision feeding machine.

Viscoelastic Contact of Nominally Flat Rough Surfaces

2005 ◽  
Author(s):  
K. Farhang ◽  
A. Lim
Keyword(s):  
Contact Force ◽  
Rough Surfaces ◽  
Tangential Force ◽  
Tangential Velocity ◽  
Surface Profile ◽  
Contact Forces ◽  
Profile Measurement ◽  
Tangential Contact ◽  
Corrective Factor ◽  
Percent Accuracy

Approximate closed-form equations are derived for normal and tangential contact forces of rough surfaces in dry friction. Using an extension of the Greenwood and Tripp model, in which the derivations permit asperity shoulder-to-shoulder contact and viscoelastic asperity behavior. Mathematical formulae are derived for normal and tangential components of the contact force that depend not only on the proximity of the two surfaces but also the rate of approach and relative sliding. A statistical approach is forwarded in which dependence of the asperity tangential contact force on relative tangential velocity of two asperities can be cast as a corrective factor in the mathematical description of tangential force. In this regard two corrective coefficients are derived: force directionality corrective coefficient and force-velocity directionality corrective coefficient. The results show that for a moderate to high load ranges the contact force can be analytically described to within 20 percent accuracy, well below the uncertainties due to surface profile measurement.

scholarly journals Neuronal activity in somatosensory cortex related to tactile exploration

2016 ◽  
Vol 115 (1) ◽  
pp. 112-126 ◽  
Author(s):  
Pascal Fortier-Poisson ◽  
Allan M. Smith
Keyword(s):  
Somatosensory Cortex ◽  
Tangential Force ◽  
Surface Friction ◽  
Scanning Speed ◽  
Contact Forces ◽  
Normal Contact ◽  
Force Magnitude ◽  
Tactile Target ◽  
Finger Forces ◽  
Friction Surfaces

The very light contact forces (∼0.60 N) applied by the fingertips during tactile exploration reveal a clearly optimized sensorimotor strategy. To investigate the cortical mechanisms involved with this behavior, we recorded 230 neurons in the somatosensory cortex (S1), as two monkeys scanned different surfaces with the fingertips in search of a tactile target without visual feedback. During the exploration, the monkeys, like humans, carefully controlled the finger forces. High-friction surfaces offering greater tangential shear force resistance to the skin were associated with decreased normal contact forces. The activity of one group of neurons was modulated with either the normal or tangential force, with little or no influence from the orthogonal force component. A second group responded to kinetic friction or the ratio of tangential to normal forces rather than responding to a specific parameter, such as force magnitude or direction. A third group of S1 neurons appeared to respond to particular vectors of normal and tangential force on the skin. Although 45 neurons correlated with scanning speed, 32 were also modulated by finger forces, suggesting that forces on the finger should be considered as the primary parameter encoding the skin compliance and that finger speed is a secondary parameter that co-varies with finger forces. Neurons (102) were also tested with different textures, and the activity of 62 of these increased or decreased in relation to the surface friction.

An Experimental Study of Contact Forces During Oblique Elastic Impact

2009 ◽  
Vol 76 (3) ◽  
Author(s):  
Philip P. Garland ◽  
Robert J. Rogers
Keyword(s):  
Contact Force ◽  
High Speed ◽  
Steel Wire ◽  
Tangential Force ◽  
Tangential Velocity ◽  
Force Transducer ◽  
Contact Forces ◽  
Elastic Impact ◽  
Experimental Apparatus ◽  
Force Time

Low and high speed impacts frequently occur in many mechanical processes. Although widely studied, rarely are normal and tangential force time-waveforms measured, as generally these are very difficult measurements to do accurately. This paper presents, for the first time, a comprehensive set of experimentally obtained contact force waveforms during oblique elastic impact for a range of initial velocities and incidence angles. The experimental apparatus employed in this study was a simple pendulum consisting of a spherical steel striker suspended from a steel wire. The contact force time-waveforms were collected using a tri-axial piezoelectric force transducer sandwiched between a spherical target cap and a large block. The measured contact forces showed that loading was essentially limited to the normal and tangential directions in the horizontal plane. Analysis of the maximum normal and tangential forces for the near glancing angles of incidence indicated a friction coefficient that varies linearly with initial tangential velocity. The essential features of tangential force reversal during impact predicted by previous continuum models are confirmed by the experimental force results.

A Kinetic Friction Model for Viscoelastic Contact of Nominally Flat Rough Surfaces

2007 ◽  
Vol 129 (3) ◽  
pp. 684-688 ◽  
Author(s):  
K. Farhang ◽  
A. Lim
Keyword(s):  
Contact Force ◽  
Rough Surfaces ◽  
Tangential Force ◽  
Tangential Velocity ◽  
Surface Profile ◽  
Friction Model ◽  
Contact Forces ◽  
Profile Measurement ◽  
Tangential Contact ◽  
Force Velocity

Approximate closed-form equations are derived for normal and tangential contact forces of rough surfaces in dry friction. Using an extension of the Greenwood and Tripp (1970, Proc, Inst. Mech. Eng., 185, pp. 625–633) model, in which the derivations permit asperity shoulder-to-shoulder contact and viscoelastic asperity behavior, mathematical formulae are derived for normal and tangential components of the contact force that depend not only on the proximity of the two surfaces but also the rate of approach and relative sliding. A statistical approach is forwarded in which dependence of the asperity tangential contact force on relative tangential velocity of two asperities can be cast as corrective factors in the mathematical description of tangential force. In this regard two corrective coefficients are derived: force directionality corrective coefficient and force–velocity directionality corrective coefficient. The results show that for a moderate to high load ranges the contact force can be analytically described to within 20% accuracy of that from a numerical integration of the contact equations, well below the uncertainties due to surface profile measurement.

scholarly journals Coordination of Contact Forces During Multifinger Static Prehension

2011 ◽  
Vol 27 (2) ◽  
pp. 87-98 ◽  
Author(s):  
Joel R. Martin ◽  
Mark L. Latash ◽  
Vladimir M. Zatsiorsky
Keyword(s):  
Tangential Force ◽  
Neutral Point ◽  
Contact Forces ◽  
Finger Force ◽  
Principle Of Superposition ◽  
Force Moment ◽  
Grasping Force ◽  
Tangential Forces ◽  
Internal Forces ◽  
Finger Forces

This study investigated the effects of modifying contact finger forces in one direction—normal or tangential—on the entire set of the contact forces, while statically holding an object. Subjects grasped a handle instrumented with finger force-moment sensors, maintained it at rest in the air, and then slowly: (1) increased the grasping force, (2) tried to spread fingers apart, and (3) tried to squeeze fingers together. Analysis was mostly performed at the virtual finger (VF) level (the VF is an imaginable finger that generates the same force and moment as the four fingers combined). For all three tasks there were statistically significant changes in the VF normal and tangential forces. For finger spreading/squeezing the tangential force neutral point was located between the index and middle fingers. We conclude that the internal forces are regulated as a whole, including adjustments in both normal and tangential force, instead of only a subset of forces (normal or tangential). The effects of such factors as EFFORT and TORQUE were additive; their interaction was not statistically significant, thus supporting the principle of superposition in human prehension.

scholarly journals Micromechanism of the Breakage of Two Spherical Gypsum Particles under Normal–Tangential Contact Conditions

2021 ◽  
Vol 11 (9) ◽  
pp. 4039
Author(s):  
Yiran Niu ◽  
Lin Li ◽  
Yanwei Zhang ◽  
Shicai Yu ◽  
Jian Zhou
Keyword(s):  
Tangential Force ◽  
Coarse Grained ◽  
Spherical Particles ◽  
Contact Conditions ◽  
Normal Contact ◽  
Tangential Contact ◽  
Theoretical Predictions ◽  
Tangential Forces ◽  
Predicted Values ◽  
The Relationship

Contact breakage of particles makes a large difference in the strength of coarse-grained soils, and exploring the characteristics within the process of the breakage is of great significance. Ignoring the influence of particle shape, the micromechanism of two spherical particles breaking under normal–tangential contact conditions was investigated theoretically and experimentally. Through theoretical analysis, the breakage form, the shape and size of the conical core, and the relationship between the normal and tangential forces at crushing were predicted. Particle contact tests of two gypsum spheres were carried out, in which the breakage forms, features of the conical cores and the normal and tangential forces at crushing were recorded for comparison with the predicted values. The test results and the theoretical predictions showed good agreement. Both the analysis and test demonstrate that the presence of tangential forces causes the conical core to assume the shape of an oblique cone, and the breakage form to change. Moreover, with increasing normal contact force, the tangential force needed for crushing increases gradually first and then decreases suddenly.

scholarly journals Dynamics of Multibody Systems With Spherical Clearance Joints

2005 ◽  
Author(s):  
P. Flores ◽  
J. Ambro´sio ◽  
J. C. P. Claro ◽  
H. M. Lankarani
Keyword(s):  
Contact Force ◽  
Multibody Systems ◽  
Contact Forces ◽  
Force Model ◽  
Clearance Joints ◽  
Continuous Contact ◽  
Clearance Joint ◽  
Contact Force Model ◽  
Dynamics Of Multibody Systems ◽  
The Impact

This work deals with a methodology to assess the influence of the spherical clearance joints in spatial multibody systems. The methodology is based on the Cartesian coordinates, being the dynamics of the joint elements modeled as impacting bodies and controlled by contact forces. The impacts and contacts are described by a continuous contact force model that accounts for geometric and mechanical characteristics of the contacting surfaces. The contact force is evaluated as function of the elastic pseudo-penetration between the impacting bodies, coupled with a nonlinear viscous-elastic factor representing the energy dissipation during the impact process. A spatial four bar mechanism is used as an illustrative example and some numerical results are presented, being the efficiency of the developed methodology discussed in the process of their presentation. The results obtained show that the inclusion of clearance joints in the modelization of spatial multibody systems significantly influences the prediction of components’ position and drastically increases the peaks in acceleration and reaction moments at the joints. Moreover, the system’s response clearly tends to be nonperiodic when a clearance joint is included in the simulation.

Analysis and Comparison of Seal Ability of Premium Tubing Connections under Axial Alternating Load

2013 ◽  
Vol 423-426 ◽  
pp. 2035-2039
Author(s):  
Long Cang Huang ◽  
Yin Ping Cao ◽  
Yang Yu ◽  
Yi Hua Dou
Keyword(s):  
Contact Pressure ◽  
Oil And Gas ◽  
Element Analysis ◽  
Gas Well ◽  
Cycle Number ◽  
Compression Load ◽  
Well Production ◽  
Maximum Contact ◽  
Contact Pressures ◽  
Better Than

In the process of oil and gas well production, tubing connection stand the axial alternating load during open well, shut well and fluid flow. In order to know premium connection seal ability under the loading, two types of P110 88.9mmx6.45mm premium tubing connections which called A connection and B connection are performed with finite element analysis, in which contact pressures and their the regularities distribution on sealing surface are analyzed. The results show that with the increasing of cycle number, the maximum contact pressures on sealing surface of both A connection and B connection are decreased. The decreasing of the maximum contact pressures on B connection is greater than those on A connection. With the increasing of cycle number of axial alternating compression load, the maximum contact pressure on sealing surface of A connection is decreased, and the maximum contact pressure on sealing surface of B connection remains constant. Compared the result, it shows that the seal ability of A connection is better than B connection under axial alternating tension load, while the seal ability of B connection is better than type A connection under axial alternating compression load.

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