In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the...

This paper proposes a method to predict maximum traction force for autonomous mobile robots on rough terrain in order to improve maneuverability. For predicting traction force, we utilize friction-slip curves based on modified Brixius model derived empirically in terramechanics, which is a function of mobility number Bn′ and slip ratio S. Friction-slip curves include physical characteristics of...

This article describes the design of a traction control system in an electric Formula Student vehicle. In many race applications the accelerator pedal is difficult to control for an in-experienced driver, especially in the case of electric vehicles, where a large torque is available from standstill. A 3-DOF driveline model is used in combination with a 7-DOF vehicle model and a non-linear tyre ...

This study aims to investigate the effects of shoe traction and obstacle height on friction during walking to better understand the mechanisms required to avoid slippage following obstacle clearance. Ten male subjects walked at a self-selected pace during eight different conditions: four obstacle heights (0%, 10%, 20% and 40% of limb length) while wearing two different pairs of shoes (low and h...

METHODS 17 physicians, experienced in transvenous lead removal, performed a lead extraction manoeuvre of an ICD lead on a torso phantom. They were advised to stop traction only when further traction would be considered as harmful to the patient or when--based on their experience--a change in the extraction strategy was indicated. Traction forces were recorded with a digital precision gauge. R...

The force balance between the extracellular microenvironment and the intracellular cytoskeleton controls the cell fate. We report a new (to our knowledge) mechanism of receptor force control in cell adhesion originating from friction between cell adhesion ligands and the supporting substrate. Adherent human endothelial cells have been studied experimentally on polymer substrates noncovalently c...

If a wheel rolling over a rail transmits a tangential traction, frictional microslip occurs in part of the contact area, resulting in energy dissipation and localized wear. If the applied forces oscillate in time, the resulting wear will be non-uniform, resulting in ‘corrugations’ that can grow with progressive passes, depending on the dynamics of the overall system. In this paper, a linear per...

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This paper describes studies done at Gemtex Laboratory on the modeling and simulation of woven fabric. The main difficulty in this area is to take into account the hysteresis phenomena that occurs in fabric’s traction, shearing and bending behavior. Part I of this paper presents a friction based approach to obtain a time-free model for this nonlinear phenomena. Part II presents the application ...