The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental motor primitives: contact-on, stick-to-slip, and full slip, then examined the tactile features associated with each motor primitive, including the center of mass (COM) and the centroid of the contact pressure distribution matrix and the total contact area. The change in fingertip contact area during contact-on was in accordance with a first-order kinetic model. In the stick-to-slip, there was a generalized linear relationship between the fingertip skin stretch and the magnitude of the tangential force. Moreover, the skin stretch of the fingertip mirrored the direction of the motion. During the full slip, the COM's movement effectively represented the direction of the tangential force, with an error margin of no more than five degrees. Experiments showed that certain fingertip motions can be portrayed, transmitted, and replicated using tactile information. This research opens potential avenues for remote immersive physical communication in robotics and other related fields.

中文翻译：

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人类手指接触电机原语的触觉特征


人手通过身体接触与环境交互，触觉信息与手指运动模式密切相关。研究手指的运动基元与相应的触觉反馈之间的关系可以为了解触摸的本质提供有价值的见解，并为人形触觉的模拟提供信息。这项研究将手指接触分解为三个基本运动原语：接触、粘滑和全滑动，然后检查与每个运动原语相关的触觉特征，包括质心 (COM) 和接触的质心压力分布矩阵和总接触面积。接触过程中指尖接触面积的变化符合一级动力学模型。在粘滑过程中，指尖皮肤拉伸与切向力大小之间存在广义线性关系。此外，指尖的皮肤拉伸反映了运动的方向。在完全滑移过程中，COM 的运动有效地代表了切向力的方向，误差幅度不超过 5 度。实验表明，某些指尖动作可以使用触觉信息来描绘、传输和复制。这项研究为机器人和其他相关领域的远程沉浸式物理通信开辟了潜在途径。