Atomic Force Microscope (AFM) was used to perform surface force measurements in contact mode to investigate surface properties of model systems at the nanoscale. Model systems were considered and compared. The first one was related to systems of controlled chemical surface properties with identical mechanical properties (chemically modified silicon substrates with hydroxyl, amine, methyl and ester functional groups). The second one deals with model polymer networks (Cross-linked polydimethylsiloxane or PDMS) of controlled mechanical properties and identical surface chemistry. The third system consists in a model polymer network, whose surface is chemically controlled with the same groups as before with silicon substrates. The results show that the viscoelastic contribution is dominating in the adhesion force measurement. Finally, we propose a relationship (derived from the Gent and Schultz's one), which expresses the AFM adhesion force as a function of mechanical energy dissipated in the contact and the surface properties of the material.