Imaging dynamic three-dimensional traction stresses

Traction stress between contact objects is ubiquitous and crucial for various physical, biological, and engineering processes such as momentum transfer, tactile perception, and mechanical reliability. Newly developed techniques including electronic skin or traction force microscopy enable traction stress measurement. However, measuring the three-dimensional distribution during a dynamic process remains challenging. Here, we demonstrated a method based on stereo vision to measure three-dimensional traction stress with high spatial and temporal resolution. It showed the ability to image the two-stage adhesion failure of bionic microarrays and display the contribution of elastic resistance and adhesive traction to rolling friction at different contact regions. It also revealed the distributed sucking and sealing effect of the concavity pedal waves that propelled a snail crawling in the horizontal, vertical, and upside-down directions. We expected that the method would advance the understanding of various interfacial phenomena and greatly benefit related applications across physics, biology, and robotics.