It was previously suggested that the mechanical properties of the fingertip could be characterized by elasticity from dc to about 100Hz and by viscosity above this frequency. Using a specifically designed high mobility probe, we accurately measured the impedance of the fingertips of seven participants under a variety of conditions relevant to purposeful touch. Direct measurements vindicated previous indirect observations. We also characterized the dependency of the fingertip impedance upon normal load, orientation, and time.
Copyright © 2012 Elsevier Ltd. All rights reserved.