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Interfacial phenomena on soft and wet materials, such as hydrogels, are important for modeling physical phenomena, such as friction, wetting, and adhesion on hydrophilic biosurfaces. Interfacial phenomena on soft material surfaces are not only affected by the properties of the surface but also by the geometry of the substrate. However, there are few reports on the influence of geometry and deformability on friction behavior at gel interfaces. In this study, we evaluate the effects of the thickness ( H ) of the upper agar gel layer on the friction force between gels under a sinusoidal movement. Although H does not significantly affect the friction force or pattern, the normalized delay time (δ), which is the normalized time lag in the friction force response to the contact probe's movement, increases with H . A regression analysis between δ and H shows that δ increased linearly with H . We present a simple model incorporating a shear modulus to qualitatively explain the experimental results. The analysis and our model indicate that one must not only consider surface properties, such as adhesion, but also thickness and rigidity when studying friction behavior at the gel-surface interface. These findings will be useful for understanding friction phenomena on soft biological systems, such as the tongue, throat, esophagus, and gut surfaces.

Friction Dynamics of Hydrogel Substrates with a Fractal Surface: Effects of Thickness