Force Mobilization and Generalized Isostaticity in Jammed Packings of   Frictional Grains
  We show that in slowly generated 2d packings of frictional spheres, a significant fraction of the friction forces lies at the Coulomb threshold - for small pressure p and friction coefficient mu, about half of the contacts. Interpreting these contacts as constrained leads to a generalized concept of isostaticity, which relates the maximal fraction of fully mobilized contacts and contact number. For p->0, our frictional packings approximately satisfy this relation over the full range of mu. This is in agreement with a previous conjecture that gently built packings should be marginal solids at jamming. In addition, the contact numbers and packing densities scale with both p and mu. 
Kostya Shundyak, Martin van Hecke and Wim van Saarloos