On lubrication and friction in soft rough conformal sliding contacts : experimental and theoretical contributions to the discussion on elastomer shaft seal tribology Soft micro elastohydrodynamic lubrication mixed lubrication friction in lubricated elastomeric contacts elastomeric radial lip seal fluid structure interaction. Weiche mikro elastohydrodynamische Schmierung Mischreibung Reibung in geschmierten Elastomerkontakten elastomerer Radialwellendichtring Fluid Struktur Interaktion