Table 1.
Description of the grasping surfaces
| Sample No. | Product No./Name | Coefficient of Friction |
|---|---|---|
| 3M medical tape | ||
| T1 | 1527 | 0.36 ± 0.01 |
| T2 | 1529 | 0.40 ± 0.01 |
| T3 | 9860 | 0.44 ± 0.01 |
| T4 | 1776 | 0.50 ± 0.05 |
| T5 | 9916 | 0.57 ± 0.08 |
| T6 | 9904 | 0.59 ± 0.01 |
| T7 | 2475 | 0.63 ± 0.05 |
| T8 | 9926 | 0.44 ± 0.01 |
| T9 | 1538 | 0.59 ± 0.01 |
| Sandpaper | ||
| T10 | Sp400-PS8A-400/Klingspor | 0.85 ± 0.1 |
| T11 | Sp40-9322NA/3M | 0.86 ± 0.02 |
| T12 | Sp120-9320NA/3M | 0.88 ± 0.02 |
| T13 | Sp180-9319NA/3M | 0.94 ± 0.01 |
| T14 | Sp80-9321NA/3M | 1.00 ± 0.04 |
| T15 | Sp320-413Q 320/3M | 1.07 ± 0.03 |
| T16 | Sp500-500A Silicon carbide/Mercer Abrasives | 1.16 ± 0.02 |
| T17 | Sp36-PS31-36D/Klingspor | 0.73 ± 0.02 |
| T18 | Sp220-413Q 220/3M | 1.17 ± 0.02 |
The static coefficient of friction of each surface, defined as the ratio of the pulling force needed to initiate movement of an object across the surface and the weight of the object, was obtained using a mass and pulley system.