SLIP RISK EVALUATION AND DAMPING MODELING FOR SAFE AND STABLE AUTONOMOUS MOBILE ROBOTS

The safety and comfort of wheelchair users and pedestrians are strongly influenced by the interaction between rubber wheels and floor surfaces. This study investigates the frictional and damping behavior of rubber materials with different hardnesses (40, 50, and 60 Shore D) sliding against ceramic, rubber, and cement floors, including sand-contaminated conditions. Friction coefficient and damping factors were measured experimentally and simulated using a finite element model to capture time-dependent energy dissipation. Results indicate that softer rubber exhibits higher friction and damping due to increased viscoelastic deformation and hysteresis. Cement floors provide the highest friction and damping, followed by rubber and ceramic floors, while sand contamination reduces both parameters. The proposed simulation model accurately predicts damping localization and transient behavior. These findings provide valuable insights for designing safer and more comfortable flooring systems in wheelchair-accessible and pedestrian environments.