Friction of a soft hydrogel on rough solid substrates.

We investigated the sliding friction between a soft hydrogel and rough and weakly adhesive solid substrates in a water environment. Polyvinyl alcohol (PVA) hydrogels of different elastic moduli and two sets of glass substrates with different contact angles to water, all of which varied in their surface roughness, were used. The friction measurement was performed by using a strain-controlled parallel-plate rheometer. With an increase in substrate roughness, the friction in the low velocity region increased slightly, while it decreased significantly above a critical velocity on a surface with a roughness larger than 1 μm. Below this critical velocity, the frictional stress changed with the glass substrate surface energy, while above this critical velocity, it was not sensitive to the glass substrate surface energy. The velocity-dependence of friction on rough surfaces is explained in terms of surface contact dynamics and is characterized by two velocities, i.e., vf and vdrainage. The former is determined by the cooperative diffusion constant of the gels, and the latter is by the surface roughness of the substrate and the normal pressure applied on the gel.