Tissue cells sense and respond to the stiffness of the surface on which they adhere. Precisely how cells sense surface stiffness remains an open question, though various biochemical pathways are critical for a proper stiffness response. Here, based on a simple mechanochemical model of biological friction, we propose a model for cell mechanosensation as opposed to previous more biochemically based models. Our model of adhesion complexes predicts that these cell-surface interactions provide a viscous drag that increases with the elastic modulus of the surface. The force-velocity relation of myosin II implies that myosin generates greater force when the adhesion complexes slide slowly. Then, using a simple cytoskeleton model, we show that an external force applied to the cytoskeleton causes actin filaments to aggregate and orient parallel to the direction of force application. The greater the external force, the faster this aggregation occurs. As the steady-state probability of forming these bundles reflects a balance between the time scale of bundle formation and destruction (because of actin turnover), more bundles are formed when the cytoskeleton time-scale is small (i.e., on stiff surfaces), in agreement with experiment. As these large bundles of actin, called stress fibers, appear preferentially on stiff surfaces, our mechanical model provides a mechanism for stress fiber formation and stiffness sensing in cells adhered to a compliant surface.biological friction | cell biomechanics | cytoskeleton | focal adhesions | mechanosensitivity A ll cells sense and respond to their environment. A prototypical example is chemical sensing mediated by cell-surface receptors, e.g., a neuron cell can sense small changes in external neural transmitter concentration and responds by opening ion channels and changing internal membrane polarization. A different kind of sensing has been receiving attention lately where some cells directly respond to mechanical properties of their environment, such as the stiffness of the surface to which they adhere. Understanding how these cells sense and respond to their mechanical environment and how they are able to translate mechanical cues into a chemical response are both topics of great interest in cell biomechanics.Here, we are motivated by how stem cells sense and respond to their local mechanical environment. Viability of mesenchymal stem cells depends on their adherence to a surface. Interestingly, the differentiation of these cells is dependent on substrate stiffness. For example, stem cells on soft surfaces become primarily brain cells; on intermediate surfaces they become muscle cells and on stiff surfaces they become bone (1). Precisely how these cells sense surface stiffness, and how surface mechanics leads to the underlying biochemical changes that determine cell identity are still open questions (2). Several processes are thought to be involved. In particular, adhesion complexes (ACs), nonmuscle myosin II, and stress fibers are all thought to play a role. In fact, it seems likel...