Concept

Contact force

Publications associées (28)

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, Vaibhav Gupta, Diego Felipe Paez Granados

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

Adhesive wear with a coarse-grained discrete element model

Son-Jonathan Pham-Ba

All surfaces, whether they are natural or man-made, exhibit a certain amount of roughness on a range of length scales. This surface roughness evidently plays a major role in tribological processes, like friction and wear between two surfaces sliding agains ...

2021

The Role of Geometrical Parameters in the Lubrication of the Swiss Lever Escapement

Stefano Mischler

The lubrication regimes of a contact pair escapement-ruby pallet of a Swiss lever escapement have been investigated combining the theory of fluid lubrication with a well-established kinematic and inverse dynamic multibody model. The kinematic analytical re ...

2021

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

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

Interparticle Friction Leads to Nonmonotonic Flow Curves and Hysteresis in Viscous Suspensions

Matthieu Wyart, Hugo Robin Louis Perrin

Hysteresis is a major feature of the solid-liquid transition in granular materials. This property, by allowing metastable states, can potentially yield catastrophic phenomena such as earthquakes or aerial landslides. The origin of hysteresis in granular fl ...

AMER PHYSICAL SOC2019

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