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Understanding the Pull-off Force of the Human Fingerpad




To understand the adhesive force that occurs when a finger pulls off of a smooth surface, we built an apparatus to measure the fingerpad’s moisture, normal force, and real contact area over time during interactions with a glass plate. We recorded a total of 450 trials (45 interactions by each of ten human subjects), capturing a wide range of values across the aforementioned variables. The experimental results showed that the pull-off force increases with larger finger contact area and faster detachment rate. Additionally, moisture generally increases the contact area of the finger, but too much moisture can restrict the increase in the pull-off force.

Author(s): Saekwang Nam and Katherine J. Kuchenbecker
Year: 2019
Month: July

Department(s): Haptische Intelligenz
Research Project(s): Understanding Fingerpad Moisture and Friction
Bibtex Type: Miscellaneous (misc)
Paper Type: Work in Progress

Address: Tokyo, Japan
How Published: Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC)
State: Published


  title = {Understanding the Pull-off Force of the Human Fingerpad},
  author = {Nam, Saekwang and Kuchenbecker, Katherine J.},
  howpublished = {Work-in-progress paper (2 pages) presented at the IEEE World Haptics Conference (WHC)},
  address = {Tokyo, Japan},
  month = jul,
  year = {2019},
  month_numeric = {7}