Nonlinear denoising for characterization of solid friction under low confinement pressure

The present work investigates paper-paper friction dynamics by pulling a slider over a substrate. It focuses on the transition between stick-slip and inertial regimes. Although the device is classical, probing solid friction with the fewest contact damage requires that the applied load should be small. This induces noise, mostly impulsive in nature, on the recorded slider motion and force signals. To address the challenging issue of describing the physics of such systems, we promote here the use of nonlinear filtering techniques relying on recent nonsmooth optimization schemes. In contrast to linear filtering, nonlinear filtering captures the slider velocity asymmetry and, thus, the creep motion before sliding. Precise estimates of the stick and slip phase durations can thus be obtained. The transition between the stick-slip and inertial regimes is continuous. Here we propose a criterion based on the probability of the system to be in the stick-slip regime to quantify this transition. A phase diagram is obtained that characterizes the dynamics of this frictional system under low confinement pressure.