ABSTRACT
An interaction between the asperities of a rough surface pair can also be interpreted by the so-called bristle model, in which the distributed bristles of a brush mimic the asperities deformation (elastic or plastic) during a tangential displacement. Also a variety of force and torque sensors can be applied either on a contact interface with environment or between the mechanical parts of a mechanism, for which an interaction force should be determined. A classical example represents the torque sensor integrated into the drive chain with a common rotary axis. While the viscous friction components are well inline with a linear systems paradigm, associated with linear system damping and thus with identification in both time and frequency domain, the nonlinear frictional effects pose a serious challenge for being properly isolated within the overall system response.
