In human manipulation, the evaluation of the contact area as a function of the applied forces is fundamental for understanding impedance properties of the fingertip. This paper aims at contributing to the characterization of human fingertip mechanical properties which can be useful to reproduce grasping abilities to design and optimize new skin haptic interfaces. A Finite Element Model simulates the interaction between the fingertip and a flat plate, and the simulated results are compared both with experimental data available in literature and with results obtained by an innovative experimental protocol performed using 3D scanners. The present study represents a first step to develop a predictive stiffness and damping model to be used in the design of new cutaneous haptic interfaces.

在人类操作中，接触面积作为所施加力的函数的评估是理解指尖阻抗特性的基础。本文旨在为人类指尖机械特性的表征做出贡献，这些特性可用于重现抓取能力以设计和优化新的皮肤触觉界面。有限元模型模拟指尖和平板之间的相互作用，并将模拟结果与文献中提供的实验数据以及使用 3D 扫描仪执行的创新实验协议获得的结果进行比较。本研究代表了开发用于设计新皮肤触觉界面的预测刚度和阻尼模型的第一步。