Cell rolling on the vascular endothelium plays an important role in trafficking of leukocytes, stem cells, and cancer cells. We describe a semianalytical model of cell rolling that focuses on the microvillus as the unit of cell-substrate interaction and integrates microvillus mechanics, receptor clustering, force-dependent receptor-ligand kinetics, and cortical tension that enables incorporatio...

Effective modeling and control of multibody systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting anal...

Using spheropolygon-based simulations and contact slope analysis, we investigate the effects of surface topography and atomic scale friction on the macroscopically observed friction between rigid blocks with fractal surface structures. From our mathematical derivation, the angle of macroscopic friction is the result of the sum of the angle of atomic friction and the slope angle between the cont...

This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and frict...

Grasping a curved object free in the plane may be done through rolling a pair of fingers on the object’s boundary. Each finger is equipped with a tactile sensor able to record any instantaneous point contact with the object. Contact kinematics reveal a relationship between the amount of finger rotations and the total curvatures of the boundary segments of the fingers and the object respectively...