Yes, of course, please specify in the Abaqus input file (let's assume that it is named "model.inp") and within the *STEP definition the following options:

*OUTPUT, FIELD

*CONTACT OUTPUT

CFORCE

Then run the Abaqus input file and after the Abaqus analysis has successfully completed, execute the following command in MATLAB:

[odbOut1,odbDat,rpyOut]=readNodeFieldOdb('model.odb', 'None', 'None', 'None', 'CNORMF', 'True');

[odbOut2,odbDat,rpyOut]=readNodeFieldOdb('model.odb', 'None', 'None', 'None', 'CSHEARF', 'True');

The results will be assigned to the variables odbOut1 and odbOut2 for contact normal force (CNORMF) and frictional shear force (CSHEARF) respectively.

Best,

George