Several a posteriori error indicators and error estimators for frictionless contact problems are compared. In detail, residual based error estimators, error indicators relying on superconvergence properties and error estimators based on duality principles are investigated. Applications are to 2D solids under the hypothesis of nonlinear elastic material behaviour associated with finite deformations. A penalization technique is applied to enforce multilateral boundary conditions due to contact. The approximate solution of the problem is obtained by using the finite element method. Several numerical results are reported to show the applicability of the adaptive algorithm to the considered problems.
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