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The Biomechanics of the Tactile Perception of Friction

Part of the book series: Springer Series on Touch and Haptic Systems ((SSTHS))

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Abstract

Human sense of touch provides a wealth of information about the contact condition and the properties of the object being manipulated, such as its material, curvature and frictional capacity at the interface. An accurate estimation of these properties is crucial for a good object manipulation. This chapter reviews the literature from the very interaction of the finger skin to the active hand motion for a stable gras**. It is divided into four sections:

  1. 1.

    How do humans interact? This section describes hand’s anatomy, mechanics and skin structure. At the end, a review of the mechanical models of skin tissues are also presented.

  2. 2.

    How do humans sense? Tactile sensing system relies on mechano-transduction ensured by thousands of mechanoreceptors. These afferents are converting mechanical touch to processable tactile signals by the central nervous system.

  3. 3.

    How do humans perceive? Once a skin deformation is sensed, i.e. sent to the brain via the nerves, the central nervous system is responsible for extracting information about objects or contact from the raw signals.

  4. 4.

    How do humans manipulate? This section details the control of gras** and manipulation tasks using the contact information extracted from the tactile signals as feedback.

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    Laurence Willemet

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Willemet, L. (2022). State of the Art. In: The Biomechanics of the Tactile Perception of Friction. Springer Series on Touch and Haptic Systems. Springer, Cham. https://doi.org/10.1007/978-3-031-16053-0_2

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