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.