On the continuous contact force models for soft materials in multibody dynamics

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A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints (2018, methodology): “There are, however, a set of contact force models where the hysteresis damping factor is expressed in terms of the local contact properties, contact geometry and contact kinematics, making them appropriate for multibody dynamics simulations [90, 145, 182-190].”
Application of the nonsmooth dynamics approach to model and analysis of the contact-impact events in cam-follower systems (2012, methodology): “Thus, the selection of the most adequate contact-impact method used to describe the process correctly plays a key role in the accurate design and analysis of these kinds of systems [26-28].”
A review of continuous contact-force models in multibody dynamics (2018, methodology): “[114] Fn = Kδ 3 2 + χδ 3 2 δ̇ 32 3 2 8(1−cr) 5cr K δ̇0 Gharib-Hurmuzlu [124] Fn = Kδ 3 2 + χδ 3 2 δ̇ 32 3 2 1 cr K δ̇0 Brilliantov et al.”