source,case_id,wheel_radius_m,wheel_width_m,grouser_height_m,grouser_count,soil_simulant,soil_shear_modulus_k_m,vertical_load_n,slip,meas_drawbar_pull_n,meas_sinkage_m,meas_torque_nm,status,citation,notes
ding2011,ding2011_smooth_w80_s00,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.0,-6.5,0.005,0.0,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel Wh34 (R=157.35 mm, b=165 mm, h=0); DP/torque/sinkage vs slip from Fig 9 h=0 curve; soil Bekker params from paper Table 2."
ding2011,ding2011_smooth_w80_s10,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.1,11.0,0.0055,3.0,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel R=157.35 mm, b=165 mm."
ding2011,ding2011_smooth_w80_s20,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.2,14.5,0.0075,4.2,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel R=157.35 mm, b=165 mm."
ding2011,ding2011_smooth_w80_s30,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.3,15.0,0.010,4.8,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel R=157.35 mm, b=165 mm."
ding2011,ding2011_smooth_w80_s40,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.4,15.0,0.0125,5.0,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel R=157.35 mm, b=165 mm."
ding2011,ding2011_smooth_w80_s60,0.15735,0.165,0.0,0,Ding2011_planetary_simulant,0.011,80.0,0.6,15.0,0.0175,5.3,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Smooth rigid wheel R=157.35 mm, b=165 mm."
ding2011,ding2011_lug10_w80_s00,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.0,-6.5,0.0045,0.0,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
ding2011,ding2011_lug10_w80_s10,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.1,14.0,0.005,3.5,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
ding2011,ding2011_lug10_w80_s20,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.2,20.0,0.0075,5.0,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
ding2011,ding2011_lug10_w80_s30,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.3,22.0,0.0105,5.8,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
ding2011,ding2011_lug10_w80_s40,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.4,23.0,0.014,6.3,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
ding2011,ding2011_lug10_w80_s60,0.15735,0.165,0.010,30,Ding2011_planetary_simulant,0.011,80.0,0.6,24.5,0.027,7.2,digitised_approx,"Ding et al. 2011, J. Terramechanics 48(1):27-45, single-wheel testbed (HIT)","Lugged rigid wheel R=157.35 mm, b=165 mm, lug height 10 mm, 30 lugs (Wh32)."
wang_han_2016_kls1,kls1_smooth_w59_s30,0.085,0.080,0.0,0,KLS-1,0.018,58.86,0.3,2.0,0.0045,1.9,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Smooth wheel d=170 mm, b=80 mm; KLS-1 simulant (PSD-matched to JSC-1/FJS-1), relative density 60%, load 6 kg, 10 mm/s. Measured DP/torque/sinkage in paper Fig. 14."
wang_han_2016_kls1,kls1_smooth_w59_s10,0.085,0.080,0.0,0,KLS-1,0.018,58.86,0.1,-0.5,0.001,1.3,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Smooth wheel d=170 mm, b=80 mm; KLS-1 simulant."
wang_han_2016_kls1,kls1_smooth_w59_s20,0.085,0.080,0.0,0,KLS-1,0.018,58.86,0.2,1.0,0.0043,1.55,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Smooth wheel d=170 mm, b=80 mm; KLS-1 simulant."
wang_han_2016_kls1,kls1_smooth_w59_s40,0.085,0.080,0.0,0,KLS-1,0.018,58.86,0.4,2.5,0.0057,2.05,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Smooth wheel d=170 mm, b=80 mm; KLS-1 simulant."
wang_han_2016_kls1,kls1_smooth_w59_s50,0.085,0.080,0.0,0,KLS-1,0.018,58.86,0.5,0.5,0.008,2.05,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Smooth wheel d=170 mm, b=80 mm; KLS-1 simulant."
wang_han_2016_kls1,kls1_lug10_w59_s30,0.085,0.080,0.010,16,KLS-1,0.018,58.86,0.3,10.0,0.0078,3.05,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Grousered wheel d=170 mm, b=80 mm, 16 grousers (10 mm, 36 deg spacing, 3 mm thick); KLS-1."
wang_han_2016_kls1,kls1_lug10_w59_s10,0.085,0.080,0.010,16,KLS-1,0.018,58.86,0.1,7.7,0.0022,2.85,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Grousered wheel d=170 mm, b=80 mm, 16 grousers; KLS-1."
wang_han_2016_kls1,kls1_lug10_w59_s20,0.085,0.080,0.010,16,KLS-1,0.018,58.86,0.2,9.0,0.0043,2.95,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Grousered wheel d=170 mm, b=80 mm, 16 grousers; KLS-1."
wang_han_2016_kls1,kls1_lug10_w59_s40,0.085,0.080,0.010,16,KLS-1,0.018,58.86,0.4,12.7,0.0096,3.1,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Grousered wheel d=170 mm, b=80 mm, 16 grousers; KLS-1."
wang_han_2016_kls1,kls1_lug10_w59_s50,0.085,0.080,0.010,16,KLS-1,0.018,58.86,0.5,6.4,0.0135,2.85,digitised_approx,"Wang & Han 2016, J. Korean Geotech. Soc. 32(11):97-108 (open access), KICT single-wheel testbed","Grousered wheel d=170 mm, b=80 mm, 16 grousers; KLS-1."
hurrell2025_rashid1,rashid1_fjs1_w24_s10,0.100,0.080,0.020,14,Hurrell2025_FJS1,0.018,24.5,0.1,8.1,0.006,,digitised_approx,"Hurrell et al. 2025, Space Sci. Rev. 221 art. 37 (open access, CC-BY), single-wheel testbed + DEM, Rashid-1 wheel","Rashid-1 micro-rover wheel R=100 mm, b=80 mm, 14 grousers (20 mm), load 24.5 N (Earth), FJS-1 loose (~25% rel. density). Source reports traction coefficient mu = DP/W (Fig 5) and dynamic sinkage (Fig 6); meas_drawbar_pull_n = mu * 24.5 N. FJS-1 measured AoR 38 deg matches catalogue phi."
hurrell2025_rashid1,rashid1_fjs1_w24_s20,0.100,0.080,0.020,14,Hurrell2025_FJS1,0.018,24.5,0.2,8.6,0.0095,,digitised_approx,"Hurrell et al. 2025, Space Sci. Rev. 221 art. 37 (open access, CC-BY), single-wheel testbed + DEM, Rashid-1 wheel","Rashid-1 wheel; meas_drawbar_pull_n = mu * 24.5 N from Fig 5."
hurrell2025_rashid1,rashid1_fjs1_w24_s30,0.100,0.080,0.020,14,Hurrell2025_FJS1,0.018,24.5,0.3,8.8,0.011,,digitised_approx,"Hurrell et al. 2025, Space Sci. Rev. 221 art. 37 (open access, CC-BY), single-wheel testbed + DEM, Rashid-1 wheel","Rashid-1 wheel; meas_drawbar_pull_n = mu * 24.5 N from Fig 5."
hurrell2025_rashid1,rashid1_fjs1_w24_s40,0.100,0.080,0.020,14,Hurrell2025_FJS1,0.018,24.5,0.4,9.6,0.016,,digitised_approx,"Hurrell et al. 2025, Space Sci. Rev. 221 art. 37 (open access, CC-BY), single-wheel testbed + DEM, Rashid-1 wheel","Rashid-1 wheel; meas_drawbar_pull_n = mu * 24.5 N from Fig 5."
hurrell2025_rashid1,rashid1_fjs1_w24_s50,0.100,0.080,0.020,14,Hurrell2025_FJS1,0.018,24.5,0.5,10.5,0.0195,,digitised_approx,"Hurrell et al. 2025, Space Sci. Rev. 221 art. 37 (open access, CC-BY), single-wheel testbed + DEM, Rashid-1 wheel","Rashid-1 wheel; meas_drawbar_pull_n = mu * 24.5 N from Fig 5."