The nucleation and propagation of solitary Schallamach waves

We isolate single Schallamach waves --- detachment fronts that mediate inhomogeneous sliding between an elastomer and a hard surface --- to study their creation and dynamics. Based on measurements of surface displacement using high-speed \emph{in situ} imaging, we establish a Burgers vector for the waves. The crystal dislocation analogues of nucleation stress, defect pinning and configurational force are demonstrated. It is shown that many experimentally observed features can be quantitatively described using a conventional model of a dislocation line in an elastic medium. We also highlight the evolution of nucleation features such as surface wrinkles, with consequences for interface delamination.