Identifying 3-D spatiotemporal skin deformation cues evoked in interacting with compliant elastic surfaces

Li, Bingxu; Hauser, Steven C.; Gerling, Gregory J.

doi:10.1109/haptics45997.2020.ras.hap20.22.5a9b38d8

Cited by 11 publications

(13 citation statements)

References 14 publications

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“…Ellipse method and derived skin deformation cues. To reduce the dimensional complexity but sufficiently capture the characteristics of the skin's deformation, we developed a method that fits vertically stacked ellipses with the same orientation onto the point clouds (Li et al, 2020). The fitting process starts from the contact surface to the highest penetration of the finger pad (i.e.…”

Section: Image Acquisition and Processing Methodsmentioning

confidence: 99%

“…3). Full details of its setup and validation have been reported previously (Hauser & Gerling, 2018b; Li et al., 2020). Briefly, the apparatus consists of a motion‐controlled indenter and load sled (ILS‐100 MVTP; Newport, Irvine, CA, USA), a load cell on top of a customized stimulus housing and two stereo cameras oriented in parallel.…”

Section: Methodsmentioning

confidence: 99%

“…Next, using this ellipse's representation, we characterized the dynamic change of skin by developing five skin deformation cues, including contact area, curvature, penetration depth, eccentricity and force. The algorithmic definition of each cue has been published previously (Li et al., 2020).…”

Section: Methodsmentioning

confidence: 99%

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An individual's skin stiffness predicts their tactile discrimination of compliance

Li,

Gerling

2023

The Journal of Physiology

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Individual differences in tactile acuity have been correlated with age, gender and finger size, whereas the role of the skin's stiffness has been underexplored. Using an approach to image the 3‐D deformation of the skin surface during contact with transparent elastic objects, we evaluate a cohort of 40 young participants, who present a diverse range of finger size, skin stiffness and fingerprint ridge breadth. The results indicate that skin stiffness generally correlates with finger size, although individuals with relatively softer skin can better discriminate compliant objects. Analysis of contact at the skin surface reveals that softer skin generates more prominent patterns of deformation, in particular greater rates of change in contact area, which correlate with higher rates of perceptual discrimination of compliance, regardless of finger size. Moreover, upon applying hyaluronic acid to soften individuals’ skin, we observe immediate, marked and systematic changes in skin deformation and consequent improvements in perceptual acuity in differentiating compliance. Together, the combination of 3‐D imaging of the skin surface, biomechanics measurements, multivariate regression and clustering, and psychophysical experiments show that subtle distinctions in skin stiffness modulate the mechanical signalling of touch and shape individual differences in perceptual acuity. imageKey points Although declines in tactile acuity with ageing are a function of multiple factors, for younger people, the current working hypothesis has been that smaller fingers are better at informing perceptual discrimination because of a higher density of neural afferents. To decouple relative impacts on tactile acuity of skin properties of finger size, skin stiffness, and fingerprint ridge breadth, we combined 3‐D imaging of skin surface deformation, biomechanical measurements, multivariate regression and clustering, and psychophysics. The results indicate that skin stiffness generally correlates with finger size, although it more robustly correlates with and predicts an individual's perceptual acuity. In particular, more elastic skin generates higher rates of deformation, which correlate with perceptual discrimination, shown most dramatically by softening each participant's skin with hyaluronic acid. In refining the current working hypothesis, we show the skin's stiffness strongly shapes the signalling of touch and modulates individual differences in perceptual acuity.

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Section: Image Acquisition and Processing Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

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An individual's skin stiffness predicts their tactile discrimination of compliance

Li,

Gerling

2023

The Journal of Physiology

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“…5 a. Before the tests, this material must be prepared in thin layers of about 3 mm thickness: this dimension is sufficient to accommodate the maximum indentation δ due to the deformation of a human finger-pad pressed against a flat surface, which is about 2 mm [22] .To do this, a flattening device can be used, as for instance a manual rolling mill for goldsmiths ( Fig. 5 b).…”

Section: Methods Materials and Equipmentmentioning

confidence: 99%

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

2022

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“…Since the contact between a hard gripper and a hard object can lead to shocks and consequent damages of the manipulated object, the compliance of grasping is a topic of great significance (Li et al, 2020). From this perspective, the use of advanced materials and soft components to make grippers is becoming an interesting practice (Salvietti et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Contact mechanics analysis of a soft robotic fingerpad

et al. 2022

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The precision grasping capabilities of robotic hands is a key feature which is more and more required in the manipulation of objects in several unstructured fields, as for instance industrial, medical, agriculture and food industry. For this purpose, the realization of soft robotic fingers is crucial to reproduce the human finger skills. From this point of view the fingerpad is the part which is mostly involved in the contact. Particular attention must be paid to the knowledge of the mechanical contact behavior of soft artificial fingerpads. In this paper, artificial silicone fingerpads are applied to the last phalanx of robotic fingers actuated by tendons. The mechanical interaction between the fingerpad and a flat surface is analyzed in terms of deformations, contact areas and indentations. A reliable model of fingertip deformation properties provides important information for understanding robotic hand performance, that can be useful both in the design phase and for defining control strategies. The approach is based on theoretical, experimental, and numerical methods. The results will be exploited for the design of more effective robotic fingers for precision grasping of soft or fragile objects avoiding damages.

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Identifying 3-D spatiotemporal skin deformation cues evoked in interacting with compliant elastic surfaces

Cited by 11 publications

References 14 publications

An individual's skin stiffness predicts their tactile discrimination of compliance

An individual's skin stiffness predicts their tactile discrimination of compliance

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

Contact mechanics analysis of a soft robotic fingerpad

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