Alexis Prevost

The Role of Fingerprints in the Coding of Tactile Information Probed with a Biomimetic Sensor

In humans, the tactile perception of fine textures (spatial scale <200 micrometers) is mediated by skin vibrations generated as the finger scans the surface. To establish the relationship between texture characteristics and subcutaneous vibrations, a biomimetic tactile sensor has been designed whose dimensions match those of the fingertip. When the sensor surface is patterned with parallel ridges mimicking the fingerprints, the spectrum of vibrations elicited by randomly textured substrates is dominated by one frequency set by the ratio of the scanning speed to the interridge distance. For human touch, this frequency falls within the optimal range of sensitivity of Pacinian afferents, which mediate the coding of fine textures. Thus, fingerprints may perform spectral selection and amplification of tactile information that facilitate its processing by specific mechanoreceptors.

Forcing and velocity correlations in a vibrated granular monolayer

The role of forcing on the dynamics of a vertically shaken granular monolayer is investigated. Using a flat plate, surprising negative velocity correlations are measured. A mechanism for this anticorrelation is proposed with support from both experimental results and molecular dynamics simulations. Using a rough plate, velocity correlations are positive, and the velocity distribution evolves from a Gaussian at very low densities to a broader distribution at high densities. These results are interpreted as a balance between stochastic forcing, interparticle collisions, and friction with the plate.

Texture-induced modulations of friction force: the fingerprint effect

Modulations of the friction force in dry solid friction are usually attributed to macroscopic stick-slip instabilities. Here we show that a distinct, quasistatic mechanism can also lead to nearly periodic force oscillations during sliding contact between an elastomer patterned with parallel grooves, and abraded glass slides. The dominant oscillation frequency is set by the ratio between the sliding velocity and the grooves period. A model is derived which quantitatively captures the dependence of the force modulations amplitude with the normal load, the grooves period, and the slides roughness characteristics. The models main ingredient is the nonlinearity of the friction law. Since such nonlinearity is ubiquitous for soft solids, this fingerprint effect should be relevant to a large class of frictional configurations and have important consequences in human digital touch.

Stress Field at a Sliding Frictional Contact: Experiments and Calculations

Abstract A MEMS-based sensing device is used to measure the normal and tangential stress fields at the base of a rough elastomer film in contact with a smooth glass cylinder in steady sliding. This geometry allows for a direct comparison between the stress profiles measured along the sliding direction and the predictions of an original exact bidimensional model of friction. The latter assumes Amontons’ friction law, which implies that in steady sliding the interfacial tangential stress is equal to the normal stress times a pressure-independent dynamic friction coefficient μ d , but makes no further assumption on the normal stress field. Discrepancy between the measured and calculated profiles is less than 14% over the range of loads explored. Comparison with a test model, based on the classical assumption that the normal stress field is unchanged upon tangential loading, shows that the exact model better reproduces the experimental profiles at high loads. However, significant deviations remain that are not accounted for by either calculations. In that regard, the relevance of two other assumptions made in the calculations, namely (i) the smoothness of the interface and (ii) the pressure-independence of μ d is briefly discussed.

Experimental evidence of non-Amontons behaviour at a multi-contact interface

We report on normal stress field measurements at the multicontact interface between a rough elastomeric film and a smooth glass sphere under normal load, using an original MEMS-based stress-sensing device. These measurements are compared to Finite-Elements Method (FEM) calculations with boundary conditions obeying locally Amontons rigid-plastic-like friction law with a uniform friction coefficient. In dry contact conditions, significant deviations are observed which decrease with increasing load. In lubricated conditions, the measured profile recovers almost perfectly the predicted profile. These results are interpreted as a consequence of the finite compliance of the multicontact interface, a mechanism which is not taken into account in Amontons law.

Probing locally the onset of slippage at a model multi-contact interface

We report on the multicontact frictional dynamics of model elastomer surfaces rubbed against bare glass slides. The surfaces consist of layers patterned with thousands of spherical caps distributed both spatially and in height, regularly or randomly. Use of spherical asperities yields circular microcontacts whose radii are a direct measure of the contact pressure distribution. Optical tracking of individual contacts provides the in-plane deformations of the tangentially loaded interface, yielding the shear force distribution. We then investigate the stick-slip frictional dynamics of a regular hexagonal array. For all stick phases, slip precursors are evidenced and found to propagate quasistatically, normally to the isopressure contours. A simple quasistatic model relying on the existence of interfacial stress gradients is derived and predicts qualitatively the position of slip precursors.

The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features

We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor’s response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile transduction. The modification of the response induced by varying other parameters, such as the thickness of the elastic layer and the confining load, are also correctly captured by this model. We further demonstrate that the knowledge of these characteristic responses allows one to dynamically evaluate the position of a small hole within the contact zone, based on the micro-force sensors signals, with a spatial resolution an order of magnitude better than the intrinsic resolution of individual sensors. Consequences of these observations on robotic tactile sensing are briefly discussed.

Soft Lithography Using Nectar Droplets

In spite of significant advances in replication technologies, methods to produce well-defined three-dimensional structures are still at its infancy. Such a limitation would be evident if we were to produce a large array of simple and, especially, compound convex lenses, also guaranteeing that their surfaces would be molecularly smooth. Here, we report a novel method to produce such structures by cloning the 3D shape of nectar drops, found widely in nature, using conventional soft lithography.The elementary process involves transfer of a thin patch of the sugar solution coated on a glass slide onto a hydrophobic substrate on which this patch evolves into a microdroplet. Upon the absorption of water vapor, such a microdroplet grows linearly with time, and its final size can be controlled by varying its exposure time to water vapor. At any stage of the evolution of the size of the drop, its shape can be cloned onto a soft elastomer by following the well-known methods of molding and cross-linking the same. A unique new science that emerges in our attempt to understand the transfer of the sugar patch and its evolution to a spherical drop is the elucidation of the mechanics underlying the contact of a deformable sphere against a solid support intervening a thin liquid film. A unique aspect of this work is to demonstrate that higher level structures can also be generated by transferring even smaller nucleation sites on the surface of the primary lenses and then allowing them to grow by absorption of water vapor. What results at the end is either a well-controlled distribution of smooth hemispherical lenses or compound structures that could have potential applications in the fundamental studies of contact mechanics, wettability, and even in optics.

Dynamics of the contact line on rough substrates

Abstract We have studied the spreading of a liquid 4He meniscus on two different cesium substrates with a controlled random roughness. The mean distance between the “mesa” defects is of the order of 20 μm . In the case of strong pinning, we find that the roughness of the contact line scales as L1/2. Close to the wetting temperature, the liquid invades channels between the defects; this leads to a change in the scaling behavior of the roughness of the contact line.

An easy-to-build long working distance microscope

Abstract In order to obtain sharp images of objects inside an optical cryostat, we have designed a microscope with all optical elements outside the cryostat. This microscope resolves 2 μm at a working distance of 20 cm. It is easy to build and not expensive, as only standard components are used except for one single lens.