Human fingerpad under indentation I: static and dynamic force response

Fingerpad mechanics plays an important role in both the perception of object properties and control of contact conditions during manual exploration and manipulation. During manipulation of objects, the anatomical feature and mechanical behavior of the fingerpad influence contact conditions such as contact area and occurrence of slip. Thus, for a deeper understanding of tactile perception and manual control, the biomechanical behavior of fingerpad, particularly its force response to indentation, has been characterized. Results show that the fingerpads exhibit nonlinear and viscoelastic mechanical behavior. Also, relative magnitudes of the force response to various indentations and the dependence on static and dynamic aspects of the stimuli are identified.