Does static friction information predict the onset of sliding for soft material?

Friction behavior between soft and hard materials has long been a question of great interest in the fields of artificial joints, human skin contact, robotic grippers, and others. In this study, we presented a combination of theoretical and experimental analyses to investigate the friction behavior of soft materials. Using some geometric and stick–slip features in the early stage of static friction, the friction property of the interface between a soft material and a hard material is determined. Moreover, the onset of slip, the threshold force at which a friction interface begins to slide, is also predicted by a theoretical model. The predictive ability of this model may provide insights for improving interaction property recognition, as well as for developing fine tactile feedback and dexterous operation of robotic grasping.