Title: Experimental testing of the Prandtl-Tomlinson model: Molecular origin of rotational friction

Abstract: Structural superlubricity, one of the most important concepts in modern tribology, has attracted lots of interest in both fundamental research and practical applications. However, the underlying model, known as the Prandtl-Tomlinson (PT) model, is oversimplified and not for real processes, despite its prevalence in frictional and structural lubricant studies. Here, with a realistic system, cholesteric liquid crystals, confined between two atomically smooth surfaces, we measure both the surface torque during rotational friction and the molecular rotation from the commensurate to incommensurate configuration at the onset of structural lubricity. Furthermore, by changing the surface potential or the strain, the Aubry transition is confirmed. The results agree well with the description by a quasi-one-dimensional version of the PT model and provide molecular evidence for rupture nucleation during static friction. Our study bridges the gap between theories and experiments and reinforces the connection between friction and fracture.