“…authors have proposed physics-based arguments to the development of interaction laws, based notably on the cavity expansion model [22], scaling arguments [23] or numerical evidence [14,16], percussion drilling experiments have highlighted two common trends: (i) the force/penetration law consists of two successive phases, one associated with the loading and the other with the unloading of the interface [9,11,13,24], and (ii) this law is rate-independent, i.e. it does not depend on the penetration velocity of the indenter [10,24].…”