Contact mechanics of the human finger pad under compressive loads

Compressing slippery surface-assembled amphiphiles for tunable haptic energy harvesters

A recurring challenge in extracting energy from ambient motion is that devices must maintain high harvesting efficiency and a positive user experience when the interface is undergoing dynamic compression. We show that small amphiphiles can be used to tune friction, haptics, and triboelectric properties by assembling into specific conformations on the surfaces of materials. Molecules that form multiple slip planes under pressure, especially through π-π stacking, produce 80 to 90% lower friction than those that form disordered mesostructures. We propose a scaling framework for their friction reduction properties that accounts for adhesion and contact mechanics. Amphiphile-coated surfaces tend to resist wear and generate distinct tactile perception, with humans preferring more slippery materials. Separately, triboelectric output is enhanced through the use of amphiphiles with high electron affinity. Because device adoption is tied to both friction reduction and electron-withdrawing potential, molecules that self-organize into slippery planes under pressure represent a facile way to advance the development of haptic power harvesters at scale.

SORI: A softness-rendering interface to unravel the nature of softness perception

Tactile perception of softness serves a critical role in the survival, well-being, and social interaction among various species, including humans. This perception informs activities from food selection in animals to medical palpation for disease detection in humans. Despite its fundamental importance, a comprehensive understanding of how softness is neurologically and cognitively processed remains elusive. Previous research has demonstrated that the somatosensory system leverages both cutaneous and kinesthetic cues for the sensation of softness. Factors such as contact area, depth, and force play a particularly critical role in sensations experienced at the fingertips. Yet, existing haptic technologies designed to explore this phenomenon are limited, as they often couple force and contact area, failing to provide a real-world experience of softness perception. Our research introduces the softness-rendering interface (SORI), a haptic softness display designed to bridge this knowledge gap. Unlike its predecessors, SORI has the unique ability to decouple contact area and force, thereby allowing for a quantitative representation of softness sensations at the fingertips. Furthermore, SORI incorporates individual physical fingertip properties and model-based softness cue estimation and mapping to provide a highly personalized experience. Utilizing this method, SORI quantitatively replicates the sensation of softness on stationary, dynamic, homogeneous, and heterogeneous surfaces. We demonstrate that SORI accurately renders the surfaces of both virtual and daily objects, thereby presenting opportunities across a range of fields, from teleoperation to medical technology. Finally, our proposed method and SORI will expedite psychological and neuroscience research to unlock the nature of softness perception.

Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects

To discriminate the compliance of soft objects, we rely upon spatiotemporal cues in the mechanical deformation of the skin. However, we have few direct observations of skin deformation over time, in particular how its response differs with indentation velocities and depths, and thereby helps inform our perceptual judgments. To help fill this gap, we develop a 3D stereo imaging method to observe contact of the skin's surface with transparent, compliant stimuli. Experiments with human-subjects, in passive touch, are conducted with stimuli varying in compliance, indentation depth, velocity, and time duration. The results indicate that contact durations greater than 0.4 s are perceptually discriminable. Moreover, compliant pairs delivered at higher velocities are more difficult to discriminate because they induce smaller differences in deformation. In a detailed quantification of the skin's surface deformation, we find that several, independent cues aid perception. In particular, the rate of change of gross contact area best correlates with discriminability, across indentation velocities and compliances. However, cues associated with skin surface curvature and bulk force are also predictive, for stimuli more and less compliant than skin, respectively. These findings and detailed measurements seek to inform the design of haptic interfaces.

Biomechanics of the finger pad in response to torsion

Surface skin deformation of the finger pad during partial slippage at finger-object interfaces elicits firing of the tactile sensory afferents. A torque around the contact normal is often present during object manipulation, which can cause partial rotational slippage. Until now, studies of surface skin deformation have used stimuli sliding rectilinearly and tangentially to the skin. Here, we study surface skin dynamics under pure torsion of the right index finger of seven adult participants (four males). A custom robotic platform stimulated the finger pad with a flat clean glass surface, controlling the normal forces and rotation speeds applied while monitoring the contact interface using optical imaging. We tested normal forces between 0.5 N and 10 N at a fixed angular velocity of 20° s-1 and angular velocities between 5° s-1 and 100° s-1 at a fixed normal force of 2 N. We observe the characteristic pattern by which partial slips develop, starting at the periphery of the contact and propagating towards its centre, and the resulting surface strains. The 20-fold range of normal forces and angular velocities used highlights the effect of those parameters on the resulting torque and skin strains. Increasing normal force increases the contact area, the generated torque, strains and the twist angle required to reach full slip. On the other hand, increasing angular velocity causes more loss of contact at the periphery and higher strain rates (although it has no impact on resulting strains after the full rotation). We also discuss the surprisingly large inter-individual variability in skin biomechanics, notably observed in the twist angle the stimulus needs to rotate before reaching full slip.

A methodology to evaluate contact areas and indentations of human fingertips based on 3D techniques for haptic purposes

This paper presents a methodology to study the contact of human fingers with surfaces based on 3D techniques. This method helps to investigate the fingertip mechanical properties which are crucial for designing haptic interfaces. The dependence of the fingertip deformation on the applied forces is obtained both with theoretical and experimental approaches. The experimental procedure is based on digital measurements by 3D optical scanners to reconstruct the geometry of the fingertip impression and on force measurements by an instrumented plate. Results highlight the force-displacement trend and can be validated with a Finite Element Model (FEM), with data from literature or with measurements at a force-strain gauge. Gross contact areas, radii and work of adhesion are also detected, and results are compared with contact models available in literature.

• A sensorized plate with a thin force sensitive resistor and a dough material layer is used to measure the contact force corresponding to a specific digital imprint.

• 3D indentation maps are obtained and evaluated by comparing the 3D scan model of fingertips during imprinting with the digital model of the undeformed fingers and of the imprints.

• Force-displacement results can be validated by comparison with a developed FEM, a force-displacement gauge or literature outcomes.

Contact evolution of dry and hydrated fingertips at initial touch

Pressing the fingertips into surfaces causes skin deformations that enable humans to grip objects and sense their physical properties. This process involves intricate finger geometry, non-uniform tissue properties, and moisture, complicating the underlying contact mechanics. Here we explore the initial contact evolution of dry and hydrated fingers to isolate the roles of governing physical factors. Two participants gradually pressed an index finger on a glass surface under three moisture conditions: dry, water-hydrated, and glycerin-hydrated. Gross and real contact area were optically measured over time, revealing that glycerin hydration produced strikingly higher real contact area, while gross contact area was similar for all conditions. To elucidate the causes for this phenomenon, we investigated the combined effects of tissue elasticity, skin-surface friction, and fingerprint ridges on contact area using simulation. Our analyses show the dominant influence of elastic modulus over friction and an unusual contact phenomenon, which we call friction-induced hinging.

Controlling fine touch sensations with polymer tacticity and crystallinity

The friction generated between a finger and an object forms the mechanical stimuli behind fine touch perception. To control friction, and therefore tactile perception, current haptic devices typically rely on physical features like bumps or pins, but chemical and microscale morphology of surfaces could be harnessed to recreate a wider variety of tactile sensations. Here, we sought to develop a new way to create tactile sensations by relying on differences in microstructure as quantified by the degree of crystallinity in polymer films. To isolate crystallinity, we used polystyrene films with the same chemical formula and number averaged molecular weights, but which differed in tacticity and annealing conditions. These films were also sufficiently thin as to be rigid which minimized effects from bulk stiffness and had variations in roughness lower than detectable by humans. To connect crystallinity to human perception, we performed mechanical testing with a mock finger to form predictions about the degree of crystallinity necessary to result in successful discrimination by human subjects. Psychophysical testing verified that humans could discriminate surfaces which differed only in the degree of crystallinity. Although related, human performance was not strongly correlated with a straightforward difference in the degree of crystallinity. Rather, human performance was better explained by quantifying transitions in steady to unsteady sliding and the generation of slow frictional waves (r2 = 79.6%). Tuning fine touch with polymer crystallinity may lead to better engineering of existing haptic interfaces or lead to new classes of actuators based on changes in microstructure.

Influence of network structure on contaminant spreading efficiency

Contaminants, such as pathogens or non-living substances, can spread through the interaction of their carriers (e.g., air and surfaces), which constitute a network. The structure of such networks plays an important role in the contaminant spread. We measured the contaminant spreading efficiency in different networks using a newly defined parameter. We analyzed basic networks to identify the effect of the network structure on the contaminant spread. The spreading efficiency was highly related to some network parameters, such as the source node's average path length and degree, and considerably varied with the transfer rate per inter-node interaction. We compared the contaminant spreading efficiencies in some complex networks, namely scale-free, random, regular-lattice, and bipartite networks, with centralized, linear, and fractal networks. The contaminant spreading was particularly efficient in the fractal network when the transfer rate was ~0.5. Two categories of experiments were performed to validate the effect of the network structure on contaminant spreading in practical cases: (I) gas diffusion in multi-compartment cabins (II) bacteria transfer in multi-finger networks. The gas diffusion could be well estimated based on the diffusion between two compartments, and it was considerably affected by the network structure. Meanwhile, the bacteria spread was generally less efficient than expected.

Mechanisms of Friction Reduction in Longitudinal Ultrasonic Surface Haptic Devices With Non-Collinear Vibrations and Finger Displacement

Friction reduction using ultrasonic longitudinal surface vibration can modify the user perception of the touched surface and induce the perception of textured materials. In the current paper, the mechanisms of friction reduction using longitudinal vibration are analyzed at different finger exploration velocities and directions over a plate. The development of a non-Coulombic adhesion theory based on experimental results is evaluated as a possible explanation for friction reduction with vibrations that are non-collinear with the finger displacement. Comparison with experimental data shows that the model adequately describes the reduction in friction, although it is less accurate for low finger velocities and depends on motion direction.

Haptigami: A Fingertip Haptic Interface With Vibrotactile and 3-DoF Cutaneous Force Feedback

Wearable fingertip haptic devices aim todeliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of Freedom (DoF) and high mechanical complexity which are mechanically difficult to achieve at the mesoscale. Using compliant low-profile transmissions embedded in an origami structure and PCBmotors as actuators, we designed and fabricated a novel 3-DoF fingertip haptic device, called Haptigami. This under-actuated system, measuring 36 x 25 x 26 mm and weighing 13 g, can render vibrotactile and cutaneous force feedback. We tested our device by creating a novel experimental protocol and robotic platform allowing quantitative characterization of mechanical performance. The current prototype of Haptigami produces 678 mN in compression, and 400 mN and 150 mN in shear for the Y and X directions, respectively. By virtue of its unique origami-inspired design, Haptigami brings a new direction for future designs of lightweight and compact wearable robots.

Mechanical modeling and characterization of human skin: A review

This paper reviews the advances made in recent years on modeling approaches and experimental techniques to characterize the mechanical properties of human skin. The skin is the largest organ of the human body that has a complex multi-layered structure with different mechanical behaviors. The mechanical properties of human skin play an important role in distinguishing between healthy and unhealthy skin. Furthermore, knowing these mechanical properties enables computer simulation, skin research, clinical studies, as well as diagnosis and treatment monitoring of skin diseases. This paper reviews the recent efforts on modeling skin using linear, nonlinear, viscoelastic, and anisotropic materials. The work also focuses on aging effects, microstructure analysis, and non-invasive methods for skin testing. A detailed explanation of the skin structure and numerical models, such as finite element models, are discussed in this work. This work also compares different experimental methods that measure the mechanical properties of human skin. The work reviews the experimental results in the literature and shows how the mechanical properties of human skin vary with the skin sites, the layers, and the structure of human skin. The paper also discusses how state-of-the-art technology can advance skin research.

Attractive forces slow contact formation between deformable bodies underwater

Thermodynamics tells us to expect underwater contact between two hydrophobic surfaces to result in stronger adhesion compared to two hydrophilic surfaces. However, the presence of water changes not only energetics but also the dynamic process of reaching a final state, which couples solid deformation and liquid evacuation. These dynamics can create challenges for achieving strong underwater adhesion/friction, which affects diverse fields including soft robotics, biolocomotion, and tire traction. Closer investigation, requiring sufficiently precise resolution of film evacuation while simultaneously controlling surface wettability, has been lacking. We perform high-resolution in situ frustrated total internal reflection imaging to track underwater contact evolution between soft-elastic hemispheres of varying stiffness and smooth-hard surfaces of varying wettability. Surprisingly, we find the exponential rate of water evacuation from hydrophobic-hydrophobic (adhesive) contact is three orders of magnitude lower than that from hydrophobic-hydrophilic (nonadhesive) contact. The trend of decreasing rate with decreasing wettability of glass sharply changes about a point where thermodynamic adhesion crosses zero, suggesting a transition in mode of evacuation, which is illuminated by three-dimensional spatiotemporal height maps. Adhesive contact is characterized by the early localization of sealed puddles, whereas nonadhesive contact remains smooth, with film-wise evacuation from one central puddle. Measurements with a human thumb and alternatively hydrophobic/hydrophilic glass surface demonstrate practical consequences of the same dynamics: adhesive interactions cause instability in valleys and lead to a state of more trapped water and less intimate solid-solid contact. These findings offer interpretation of patterned texture seen in underwater biolocomotive adaptations as well as insight toward technological implementation.

Outdoor-Useable, Wireless/Battery-Free Patch-Type Tissue Oximeter with Radiative Cooling

For wearable electronics/optoelectronics, thermal management should be provided for accurate signal acquisition as well as thermal comfort. However, outdoor solar energy gain has restricted the efficiency of some wearable devices like oximeters. Herein, wireless/battery-free and thermally regulated patch-type tissue oximeter (PTO) with radiative cooling structures are presented, which can measure tissue oxygenation under sunlight in reliable manner and will benefit athlete training. To maximize the radiative cooling performance, a nano/microvoids polymer (NMVP) is introduced by combining two perforated polymers to both reduce sunlight absorption and maximize thermal radiation. The optimized NMVP exhibits sub-ambient cooling of 6 °C in daytime under various conditions such as scattered/overcast clouds, high humidity, and clear weather. The NMVP-integrated PTO enables maintaining temperature within ≈1 °C on the skin under sunlight relative to indoor measurement, whereas the normally used, black encapsulated PTO shows over 40 °C owing to solar absorption. The heated PTO exhibits an inaccurate tissue oxygen saturation (StO2) value of ≈67% compared with StO2 in a normal state (i.e., ≈80%). However, the thermally protected PTO presents reliable StO2 of ≈80%. This successful demonstration provides a feasible strategy of thermal management in wearable devices for outdoor applications.

Modeling and Experimental Validation of Microbial Transfer via Surface Touch

Surface touch spreads disease-causing microbes, but the measured rates of microbial transfer vary significantly. Additionally, the mechanisms underlying microbial transfer via surface touch are unknown. In this study, a new physical model was proposed to accurately evaluate the microbial transfer rate in a finger-surface touch, based on the mechanistic effects of important physical factors, including surface roughness, surface wetness, touch force, and microbial transfer direction. Four surface-touch modes were distinguished, namely, a single touch, sequential touches (by different recipients), repeated touches (by the same recipient), and a touch with rubbing. The tested transfer rates collated from 26 prior studies were compared with the model predictions based on their experimental parameters, and studies in which the transfer rates were more consistent with our model predictions were identified. New validation experiments were performed by accurately controlling the parameters involved in the model. Four types of microbes were used to transfer between the naked finger and metal surface with the assistance of a purpose-made touch machine. The measured microbial transfer rate data in our new experiments had a smaller standard deviation than those reported from prior studies and were closer to the model prediction. Our novel predictive model sheds light on possible future studies.

How to Measure the Area of Real Contact of Skin on Glass

The contact between the fingertip and an object is formed by a collection of micro-scale junctions, which collectively constitute the real contact area. This real area of contact is only a fraction of the apparent area of contact and is directly linked to the frictional strength of the contact (i.e., the lateral force at which the finger starts sliding). As a consequence, a measure of this area of real contact can help probe into the mechanism behind the friction of skin on glass. In this article, we present two methods to measure the variations of contact area; one that improves upon a tried-and-true fingertip imaging technique to provide ground truth, and the other that relies on the absorption and reflection of acoustic energy. To achieve precise measurements, the ultrasonic method exploits a recently developed model of the interaction that incorporates the non-linearity of squeeze film levitation. The two methods are in good agreement ($\rho =0.94$) over a large range of normal forces and vibration amplitudes. Since the real area of contact fundamentally underlies fingertip friction, the methods described in the article have importance for studying human grasping, understanding friction perception, and controlling surface-haptic devices.

Optimizing a Viscoelastic Finite Element Model to Represent the Dry, Natural, and Moist Human Finger Pressing on Glass

When a fingerpad presses into a hard surface, the development of the contact area depends on the pressing force and speed. Importantly, it also varies with the finger's moisture, presumably because hydration changes the tissue's material properties. Therefore, we collected data from one finger repeatedly pressing a glass plate under three moisture conditions, and we constructed a finite element model that we optimized to simulate the same three scenarios. We controlled the moisture of the subject's finger to be dry, natural, or moist and recorded 15 pressing trials in each condition. The measurements include normal force over time plus finger-contact images that are processed to yield gross contact area. We defined the axially symmetric 3D model's lumped parameters to include an SLS-Kelvin model (spring in series with parallel spring and damper) for the bulk tissue, plus an elastic epidermal layer. Particle swarm optimization was used to find the parameter values that cause the simulation to best match the trials recorded in each moisture condition. The results show that the softness of the bulk tissue reduces as the finger becomes more hydrated. The epidermis of the moist finger model is softest, while the natural finger model has the highest viscosity.

Estimating Friction Modulation From the Ultrasonic Mechanical Impedance

Ultrasonic surface-haptic touchscreens produce compelling tactile sensations directly on the users' fingertips. The tactile sensations stem from the modulation of friction produced by acoustic radiation pressure, which reduces the contact between the skin and the glass plate. During this process, some of the vibrations are partly absorbed by the tissues, resulting in a conspicuous change in the vibration amplitude of the plate upon contact with the finger, which manifests as a net change in the system mechanical impedance. In this article, we leverage the observable change of impedance to estimate the acoustic levitation and the frictional force. The self-sensing method utilizes a model of the first principles governing the physical interaction between the plate and the skin, which relies on multi-scale contact theory. The model accurately describes the experimental influence of the amplitude on the observed impedance (i.e., the amount of energy absorbed and reflected) and can be used to estimate the friction coefficient ($R^2=0.93$). These results provide additional evidence of the partial levitation mechanism at play in ultrasonic friction-modulation. This finding can be useful for designing energy-efficient devices and provide design suggestions for using ultrasonic impedance for self-sensing friction forces.

Simulating finger-tip force using two common contact models: Hunt-Crossley and elastic foundation

Musculoskeletal models of the hand rarely include fingerpad contact mechanics, thereby limiting our ability to simulate and examine hand-object interactions. The objective of this study was to evaluate whether two common contact models (Hunt-Crossley and Elastic Foundation) can accurately represent the fingerpad. Two musculoskeletal models of the index finger were created by adding fingerpad contact geometry using either the Hunt-Crossley or Elastic Foundation contact models. Key contact parameters (target force, contact area, and stiffness) were then systematically varied through 432 forward dynamic simulations to examine how these parameters influenced estimation of finger-tip forces. Across all simulations, variation in target force, contact area, and stiffness parameters impacted the computation time required to complete the simulations and the accuracy of the predicted finger-tip force. Computation time was over three times longer in simulations with high versus low values of contact area and stiffness in both contact models. For both contact models, larger contact area and stiffness values resulted in simulations that more closely predicted target force. However, across all simulations, the Hunt-Crossley model produced a greater proportion of accurate finger-tip force simulations than the Elastic Foundation model, suggesting that the Hunt-Crossley contact model may be preferable for modeling the fingerpad. Overall, our study demonstrates how the Hunt-Crossley and Elastic Foundation contact models behave in low-force biomechanical scenarios, such as those experienced during hand-object manipulation, and provides a foundation for incorporating contact mechanics into musculoskeletal models of the hand.

NFC-Based Wearable Optoelectronics Working with Smartphone Application for Untact Healthcare

With growing interest in healthcare, wearable healthcare devices have been developed and researched. In particular, near-field communication (NFC) based wearable devices have been actively studied for device miniaturization. Herein, this article proposes a low-cost and convenient healthcare system, which can monitor heart rate and temperature using a wireless/battery-free sensor and the customized smartphone application. The authors designed and fabricated a customized healthcare device based on the NFC system, and developed a smartphone application for real-time data acquisition and processing. In order to achieve compact size without performance degradation, a dual-layered layout is applied to the device. The authors demonstrate that the device can operate as attached on various body sites such as wrist, fingertip, temple, and neck due to outstanding flexibility of device and adhesive strength between the device and the skin. In addition, the data processing flow and processing result are presented for offering heart rate and skin temperature. Therefore, this work provides an affordable and practical pathway for the popularization of wireless wearable healthcare system. Moreover, the proposed platform can easily delivery the measured health information to experts for contactless/personal health consultation.

A review of the neurobiomechanical processes underlying secure gripping in object manipulation

O'SHEA, H. and S. J. Redmond. A review of the neurobiomechanical processes underlying secure gripping in object manipulation. NEUROSCI BIOBEHAV REV 286-300, 2021. Humans display skilful control over the objects they manipulate, so much so that biomimetic systems have yet to emulate this remarkable behaviour. Two key control processes are assumed to facilitate such dexterity: predictive cognitive-motor processes that guide manipulation procedures by anticipating action outcomes; and reactive sensorimotor processes that provide important error-based information for movement adaptation. Notwithstanding increased interdisciplinary research interest in object manipulation behaviour, the complexity of the perceptual-sensorimotor-cognitive processes involved and the theoretical divide regarding the fundamentality of control mean that the essential mechanisms underlying manipulative action remain undetermined. In this paper, following a detailed discussion of the theoretical and empirical bases for understanding human dexterous movement, we emphasise the role of tactile-related sensory events in secure object handling, and consider the contribution of certain biophysical and biomechanical phenomena. We aim to provide an integrated account of the current state-of-art in skilled human-object interaction that bridges the literature in neuroscience, cognitive psychology, and biophysics. We also propose novel directions for future research exploration in this area.

Nanomesh pressure sensor for monitoring finger manipulation without sensory interference

Monitoring of finger manipulation without disturbing the inherent functionalities is critical to understand the sense of natural touch. However, worn or attached sensors affect the natural feeling of the skin. We developed nanomesh pressure sensors that can monitor finger pressure without detectable effects on human sensation. The effect of the sensor on human sensation was quantitatively investigated, and the sensor-applied finger exhibits comparable grip forces with those of the bare finger, even though the attachment of a 2-micrometer-thick polymeric film results in a 14% increase in the grip force after adjusting for friction. Simultaneously, the sensor exhibits an extreme mechanical durability against cyclic shearing and friction greater than hundreds of kilopascals.

Finger Pad Topography beyond Fingerprints: Understanding the Heterogeneity Effect of Finger Topography for Human-Machine Interface Modeling

With the rapid development of haptic devices, there is an increasing demand to understand finger pad topography under different conditions, especially for investigation of the human-machine interface in surface haptic devices. An accurate description of finger pad topography across scales is essential for the study of the interfaces and could be used to predict the real area of contact and friction force, both of which correlate closely with human tactile perception. However, there has been limited work reporting the heterogeneous topography of finger pads across scales. In this work, we propose a detailed heterogeneous finger topography model based on the surface roughness power spectrum. The analysis showed a significant difference between the topography on ridges and valleys of the fingerprint and that the real contact area estimation could be different by a factor of 3. In addition, a spatial-spectral analysis method is developed to effectively compare topography response to different condition changes. This paper provides insights into finger topography for advanced human-machine interaction interfaces.

Fingerprint ridges allow primates to regulate grip

Fingerprints are unique to primates and koalas but what advantages do these features of our hands and feet provide us compared with the smooth pads of carnivorans, e.g., feline or ursine species? It has been argued that the epidermal ridges on finger pads decrease friction when in contact with smooth surfaces, promote interlocking with rough surfaces, channel excess water, prevent blistering, and enhance tactile sensitivity. Here, we found that they were at the origin of a moisture-regulating mechanism, which ensures an optimal hydration of the keratin layer of the skin for maximizing the friction and reducing the probability of catastrophic slip due to the hydrodynamic formation of a fluid layer. When in contact with impermeable surfaces, the occlusion of the sweat from the pores in the ridges promotes plasticization of the skin, dramatically increasing friction. Occlusion and external moisture could cause an excess of water that would defeat the natural hydration balance. However, we have demonstrated using femtosecond laser-based polarization-tunable terahertz wave spectroscopic imaging and infrared optical coherence tomography that the moisture regulation may be explained by a combination of a microfluidic capillary evaporation mechanism and a sweat pore blocking mechanism. This results in maintaining an optimal amount of moisture in the furrows that maximizes the friction irrespective of whether a finger pad is initially wet or dry. Thus, abundant low-flow sweat glands and epidermal furrows have provided primates with the evolutionary advantage in dry and wet conditions of manipulative and locomotive abilities not available to other animals.

Modelling the effects of age-related morphological and mechanical skin changes on the stimulation of tactile mechanoreceptors

Our sense of fine touch deteriorates as we age, a phenomenon typically associated with neurological changes to the skin. However, geometric and material changes to the skin may also play an important role on tactile perception and have not been studied in detail. Here, a finite element model is utilised to assess the extent to which age-related structural changes to the skin influence the tactile stimuli experienced by the mechanoreceptors. A numerical, hyperelastic, four-layered skin model was developed to simulate sliding of the finger against a rigid surface. The strain, deviatoric stress and strain energy density were recorded at the sites of the Merkel and Meissner receptors, whilst parameters of the model were systematically varied to simulate age-related geometric and material skin changes. The simulations comprise changes in skin layer stiffness, flattening of the dermal-epidermal junction and thinning of the dermis. It was found that the stiffness of the skin layers has a substantial effect on the stimulus magnitudes recorded at mechanoreceptors. Additionally, reducing the thickness of the dermis has a substantial effect on the Merkel disc whilst the Meissner corpuscle is particularly affected by flattening of the dermal epidermal junction. In order to represent aged skin, a model comprising a combination of ageing manifestations revealed a decrease in stimulus magnitudes at both mechanoreceptor sites. The result from the combined model differed from the sum of effects of the individually tested ageing manifestations, indicating that the individual effects of ageing cannot be linearly superimposed. Each manifestation of ageing results in a decreased stimulation intensity at the Meissner Corpuscle site, suggesting that ageing reduces the proportion of stimuli meeting the receptor amplitude detection threshold. This model therefore offers an additional biomechanical explanation for tactile perceptive degradation amongst the elderly. Applications of the developed model are in the evaluation of cosmetics products aimed at mitigating the effects of ageing, e.g. through skin hydration and administration of antioxidants, as well as in the design of products with improved tactile sensation, e.g. through the optimisation of materials and surface textures.

Modeling Sliding Friction Between Human Finger and Touchscreen Under Electroadhesion

When an alternating voltage is applied to the conductive layer of a capacitive touchscreen, an oscillating electroadhesive force (also known as electrovibration) is generated between the human finger and its surface in the normal direction. This electroadhesive force causes an increase in friction between the sliding finger and the touchscreen. Although the practical implementation of this technology is quite straightforward, the physics behind voltage-induced electroadhesion and the resulting contact interactions between human finger and the touchscreen are still under investigation. In this article, we first present the results of our experimental study conducted with a custom-made tribometer to investigate the effect of input voltage on the tangential forces acting on the finger due to electroadhesion during sliding. We then support our experimental results with a contact mechanics model developed for estimating voltage-induced frictional forces between human finger and a touchscreen as a function of the applied normal force. The unknown parameters of the model were estimated via optimization by minimizing the error between the measured tangential forces and the ones generated by the model. The estimated model parameters show a good agreement with the ones reported in the literature.

Introduction of a New In-Situ Measurement System for the Study of Touch-Feel Relevant Surface Properties

The touch-feel sensation of product surfaces arouses growing interest in various industry branches. To entangle the underlying physical and material parameters responsible for a specific touch-feel sensation, a new measurement system has been developed. This system aims to record the prime physical interaction parameters at a time, which is considered a necessary prerequisite for a successful physical description of the haptic sensation. The measurement setup enables one to measure the dynamic coefficient of friction, the macroscopic contact area of smooth and rough surfaces, the angle enclosed between the human finger and the soft-touch surfaces and the vibrations induced in the human finger during relative motion at a time. To validate the measurement stand, a test series has been conducted on two soft-touch surfaces of different roughness. While the individual results agree well with the literature, their combination revealed new insights. Finally, the investigation of the haptics of polymer coatings with the presented measuring system should facilitate the design of surfaces with tailor-made touch-feel properties.

Voltage-Induced Friction with Application to Electrovibration

Due to the growing interest in robotic and haptic applications, voltage-induced friction has rapidly gained in importance in recent years. However, despite extensive experimental investigations, the underlying principles are still not sufficiently understood, which complicates reliable modeling. We present a macroscopic model for solving electroadhesive frictional contacts which exploits the close analogy to classical adhesion theories, like Johnson-Kendall-Roberts (JKR) and Maugis, valid for electrically neutral bodies. For this purpose, we recalculate the adhesion force per unit area and the relative surface energy from electrostatics. Under the assumption of Coulomb friction in the contact interface, a closed form equation for the friction force is derived. As an application, we consider the frictional contact between the fingertip and touchscreen under electrovibration in more detail. The results obtained with the new model agree well with available experimental data of the recent literature. The strengths and limitations of the model are clearly discussed.

UltraShiver: Lateral Force Feedback on a Bare Fingertip via Ultrasonic Oscillation and Electroadhesion

We propose a new lateral force feedback device, the UltraShiver, which employs a combination of in-plane ultrasonic oscillation (around 30 kHz) and out-of-plane electroadhesion. It can achieve a strong active lateral force (400 mN) on the bare fingertip while operating silently. The lateral force is a function of pressing force, lateral vibration velocity, and electroadhesive voltage, as well as the relative phase between the velocity and voltage. In this paper, we perform experiments to investigate characteristics of the UltraShiver and their influence on lateral force. A lumped-parameter model is developed to understand the physical underpinnings of these influences. The model with frequency-weighted electroadhesion forces shows good agreement with experimental results. In addition, a Gaussian-like potential well is rendered as an application of the UltraShiver.

Electroadhesion with application to touchscreens

There is growing interest in touchscreens displaying tactile feedback due to their tremendous potential in consumer electronics. In these systems, the friction between the user's fingerpad and the surface of the touchscreen is modulated to display tactile effects. One of the promising techniques used in this regard is electrostatic actuation. If, for example, an alternating voltage is applied to the conductive layer of a surface capacitive touchscreen, an attractive electrostatic force is generated between the finger and the surface, which results in an increase in frictional forces acting on the finger moving on the surface. By altering the amplitude, frequency, and waveform of this signal, a rich set of tactile effects can be generated on the touchscreen. Despite the ease of implementation and its powerful effect on our tactile sensation, the contact mechanics leading to an increase in friction due to electroadhesion has not been fully understood yet. In this paper, we present experimental results for how the friction between a finger and a touchscreen depends on the electrostatic attraction and the applied normal pressure. The dependency of the finger-touchscreen interaction on the applied voltage and on several other parameters is also investigated using a mean field theory based on multiscale contact mechanics. We present detailed theoretical analysis of how the area of real contact and the friction force depend on contact parameters, and show that it is possible to further augment the friction force, and hence the tactile feedback displayed to the user by carefully choosing those parameters.

Complexity, rate, and scale in sliding friction dynamics between a finger and textured surface

Sliding friction between the skin and a touched surface is highly complex, but lies at the heart of our ability to discriminate surface texture through touch. Prior research has elucidated neural mechanisms of tactile texture perception, but our understanding of the nonlinear dynamics of frictional sliding between the finger and textured surfaces, with which the neural signals that encode texture originate, is incomplete. To address this, we compared measurements from human fingertips sliding against textured counter surfaces with predictions of numerical simulations of a model finger that resembled a real finger, with similar geometry, tissue heterogeneity, hyperelasticity, and interfacial adhesion. Modeled and measured forces exhibited similar complex, nonlinear sliding friction dynamics, force fluctuations, and prominent regularities related to the surface geometry. We comparatively analysed measured and simulated forces patterns in matched conditions using linear and nonlinear methods, including recurrence analysis. The model had greatest predictive power for faster sliding and for surface textures with length scales greater than about one millimeter. This could be attributed to the the tendency of sliding at slower speeds, or on finer surfaces, to complexly engage fine features of skin or surface, such as fingerprints or surface asperities. The results elucidate the dynamical forces felt during tactile exploration and highlight the challenges involved in the biological perception of surface texture via touch.

Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials

We need to understand the physics of how the skin of the finger pad deforms, and their tie to perception, to accurately reproduce a sense of compliance, or 'softness,' in tactile displays. Contact interactions with compliant materials are distinct from those with rigid surfaces where the skin flattens completely. To capture unique patterns in skin deformation over a range of compliances, we developed a stereo imaging technique to visualize the skin through optically clear stimuli. Accompanying algorithms serve to locate and track points marked with ink on the skin, correct for light refraction through stimuli, and estimate aspects of contact between skin and stimulus surfaces. The method achieves a 3-D spatial resolution of 60-120 microns and temporal resolution of 30 frames per second. With human subjects, we measured the skin's deformation over a range of compliances (61-266 kPa), displacements (0-4 mm), and velocities (1- 15 mm/s). The results indicate that the method can differentiate patterns of skin deformation between compliances, as defined by metrics including surface penetration depth, retention of geometric shape, and force per gross contact area. Observations of biomechanical cues of this sort are key to understanding the perceptual encoding of compliance.

Contact geometry and mechanics predict friction forces during tactile surface exploration

When we touch an object, complex frictional forces are produced, aiding us in perceiving surface features that help to identify the object at hand, and also facilitating grasping and manipulation. However, even during controlled tactile exploration, sliding friction forces fluctuate greatly, and it is unclear how they relate to the surface topography or mechanics of contact with the finger. We investigated the sliding contact between the finger and different relief surfaces, using high-speed video and force measurements. Informed by these experiments, we developed a friction force model that accounts for surface shape and contact mechanical effects, and is able to predict sliding friction forces for different surfaces and exploration speeds. We also observed that local regions of disconnection between the finger and surface develop near high relief features, due to the stiffness of the finger tissues. Every tested surface had regions that were never contacted by the finger; we refer to these as “tactile blind spots”. The results elucidate friction force production during tactile exploration, may aid efforts to connect sensory and motor function of the hand to properties of touched objects, and provide crucial knowledge to inform the rendering of realistic experiences of touch contact in virtual reality.

Why pens have rubbery grips

The process by which human fingers gives rise to stable contacts with smooth, hard objects is surprisingly slow. Using high-resolution imaging, we found that, when pressed against glass, the actual contact made by finger pad ridges evolved over time following a first-order kinetics relationship. This evolution was the result of a two-stage coalescence process of microscopic junctions made between the keratin of the stratum corneum of the skin and the glass surface. This process was driven by the secretion of moisture from the sweat glands, since increased hydration in stratum corneum causes it to become softer. Saturation was typically reached within 20 s of loading the contact, regardless of the initial moisture state of the finger and of the normal force applied. Hence, the gross contact area, frequently used as a benchmark quantity in grip and perceptual studies, is a poor reflection of the actual contact mechanics that take place between human fingers and smooth, impermeable surfaces. In contrast, the formation of a steady-state contact area is almost instantaneous if the counter surface is soft relative to keratin in a dry state. It is for this reason that elastomers are commonly used to coat grip surfaces.

Characterizing and Imaging Gross and Real Finger Contacts under Dynamic Loading

We describe an instrument intended to study finger contacts under tangential dynamic loading. This type of loading is relevant to the natural conditions when touch is used to discriminate and identify the properties of the surfaces of objects-it is also crucial during object manipulation. The system comprises a high performance tribometer able to accurately record in vivo the components of the interfacial forces when a finger interacts with arbitrary surfaces which is combined with a high-speed, high-definition imaging apparatus. Broadband skin excitation reproducing the dynamic contact loads previously identified can be effected while imaging the contact through a transparent window, thus closely approximating the condition when the skin interacts with a non-transparent surface during sliding. As a preliminary example of the type of phenomenon that can be identified with this apparatus, we show that traction in the range from 10 to 1000 Hz tends to decrease faster with excitation frequency for dry fingers than for moist fingers.