Contact Systems

This research area investigates the tribological effects of artificially induced surface textures in contacts lubricated by grease, particularly under mixed and elastohydrodynamic lubrication regimes typical in practical applications. The focus is on understanding how texture features' geometry and spatial positioning relative to the contact footprint affect friction and wear, aiming to optimize texture design for improved contact performance.

This theme examines the mathematical formulation and practical implementation of stability analysis and control in multi-legged robots engaging multiple contact points with heterogeneous, uneven, or compliant surfaces. It focuses on extending contact wrench set (CWS) methods to arbitrary contact geometries for real-time stability evaluation and developing feedback control laws for multi-contact locomotion in unstructured environments.

This line of research focuses on the integration of wearable electrotactile stimulation in immersive VR environments to enhance users' perception of contact points via tactile cues. Core investigations include the modulation of stimulus intensity based on penetration depth during virtual interactions, the evaluation of feedback effectiveness on manipulation precision, and user-centered calibration methods embedded within VR to personalize stimulation and improve usability.