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. 2018 Apr 18;8:6147. doi: 10.1038/s41598-018-24587-6

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Procedure of the first detaching peak in TSD. (a) Normal force vs. time curve of OSD and TSD for a sphere diameter of 11.1 mm, the detaching velocity of 313 μm/s, L₀ = 200 μm, L₁ = 165 or 215 μm; (b) Sketch of the deformation procedure around the transient adhesion force peak; (c) F′_ad vs. detaching displacement for a sphere diameter of 11.1 mm, the detaching velocity of 313 μm/s and a loading displacement of 200 μm.