With the commercialization of haptic devices, understanding behavior under various environmental conditions is crucial for product optimization and cost reduction. Specifically, for surface haptic devices, the dependence of the friction force and the electroadhesion effect on the environmental relative humidity and the finger hydration level can directly impact their design and performance. This article presents the influence of relative humidity on the finger-surface friction force and the electroadhesion performance. Mechanisms including changes to Young's modulus of skin, contact angle change and capillary force were analyzed separately with experimental and numerical methods. Through comparison of the calculated capillary force in this paper and the electroadhesion force calculated in published papers, it was found that electrowetting at high voltage could contribute up to 60% of the total friction force increase in electroadhesion. Therefore, in future design of surface haptic devices, the effect of electrowetting should be considered carefully.

中文翻译：

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电润湿：电粘附的考虑因素


随着触觉设备的商业化，了解各种环境条件下的行为对于产品优化和降低成本至关重要。具体来说，对于表面触觉设备，摩擦力和电粘附效应对环境相对湿度和手指水合水平的依赖性可以直接影响其设计和性能。本文介绍了相对湿度对手指表面摩擦力和电粘附性能的影响。通过实验和数值方法分别分析了皮肤杨氏模量变化、接触角变化和毛细管力变化的机理。通过将本文计算的毛细管力与已发表论文计算的电粘附力进行比较，发现高压电润湿对电粘附中总摩擦力增量的贡献高达60%。因此，在未来的表面触觉设备设计中，应仔细考虑电润湿的影响。