Humans efficiently estimate the grip force necessary to lift a variety of objects, including slippery ones. The regulation of grip force starts with the initial contact and takes into account the surface properties, such as friction. This estimation of the frictional strength has been shown to depend critically on cutaneous information. However, the physical and perceptual mechanism that provides such early tactile information remains elusive. In this study, we developed a friction-modulation apparatus to elucidate the effects of the frictional properties of objects during initial contact. We found a correlation between participants’ conscious perception of friction and radial strain patterns of skin deformation. The results provide insights into the tactile cues made available by contact mechanics to the sensorimotor regulation of grip, as well as to the conscious perception of the frictional properties of an object.

人类有效地估计了举起各种物体（包括滑的物体）所需的抓地力。握力的调节从初始接触开始，并考虑到表面特性，例如摩擦力。这种对摩擦强度的估计已被证明严重依赖于皮肤信息。然而，提供这种早期触觉信息的物理和感知机制仍然难以捉摸。在这项研究中，我们开发了一种摩擦调制装置，以阐明物体在初始接触过程中摩擦特性的影响。我们发现参与者对摩擦的有意识感知与皮肤变形的径向应变模式之间存在相关性。结果提供了对接触力学对握力的感觉运动调节提供的触觉提示的见解，