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Frictional properties of contacts between a smooth viscoelastic rubber andrigid surfaces are investigated using a torsional contact configuration where aglass lens is continuously rotated on the rubber surface. From the inversion ofthe displacement field measured at the surface of the rubber, spatiallyresolved values of the steady state frictional shear stress are determinedwithin the non homogeneous pressure and velocity fields of the contact. Forcontacts with a smooth lens, a velocity dependent but pressure independentlocal shear stress is retrieved from the inversion. On the other hand, thelocal shear stress is found to depend both on velocity and applied contactpressure when a randomly rough (sand blasted) glass lens is rubbed against therubber surface. As a result of changes in the density of micro-asperitycontacts, the amount of light transmitted by the transparent multi-contactinterface is observed to vary locally as a function of both contact pressureand sliding velocity. Under the assumption that the intensity of lighttransmitted by the rough interface is proportional to the proportion of areainto contact, it is found that the local frictional stress can be expressedexperimentally as the product of a purely velocity dependent term, $k(v)$, by aterm representing the pressure and velocity dependence of the actual contactarea, $A/A_0$. A comparison between $k(v)$ and the frictional shear stress ofsmooth contacts suggests that nanometer scale dissipative processes occurringat the interface predominate over viscoelastic dissipation at micro-asperityscale.

Friction of viscoelastic elastomers with rough surfaces under torsional contact conditions