Biomechanics of Finger Pad Response under Torsion

Abstract

Abstract Surface skin deformation of the finger pad during partial slippage at finger-object interfaces elicits tactile feedback. During object manipulation, torque is often present, which can cause partial slippage. Until now, studies of surface skin deformation have used stimuli sliding on rectilinear tangential trajectories. Here we studied surface skin dynamics under torsion. A custom robotic platform stimulated the finger pad with a flat transparent surface, controlling the normal forces and rotation speeds applied while monitoring the contact interface using optical imaging. We observed 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. While normal force increases the contact area, generated torque, strains, and twist angle required to reach full slip, angular velocity increases loss of contact at the periphery and strain rates (although not total strains). We also discuss the surprisingly large inter-individual variability in skin biomechanics, notably observed in the twist angle the stimulus needed to rotate before reaching full slip.