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Springer Series on Touch and Haptic Systems Laurence Willemet The Biomechanics of the Tactile Perception of Friction Springer Series on Touch and Haptic Systems SeriesEditors ManuelFerre,UniversidadPolitécnicadeMadrid,Madrid,Spain MarcErnst,UlmUniversity,Ulm,Germany AlanWing,UniversityofBirmingham,Birmingham,UK EditorialBoard CarloA.Avizzano,ScuolaSuperioreSant’Anna,Pisa,Italy MassimoBergamasco,ScuolaSuperioreSant’Anna,Pisa,Italy AntonioBicchi,UniversityofPisa,Pisa,Italy JanvanErp,UniversityofTwente,Enschede,TheNetherlands MatthiasHarders,UniversityofInnsbruck,Innsbruck,Austria WilliamS.Harwin,UniversityofReading,Reading,UK VincentHayward,SorbonneUniversité,Paris,France JuanM.Ibarra,Cinvestav,MexicoCity,Mexico AstridM.L.Kappers,EindhovenUniversityofTechnology,Eindhoven,The Netherlands MiguelA.Otaduy,UniversidadReyJuanCarlos,Madrid,Spain AngelikaPeer,LiberaUniversitàdiBolzano,Bolzano,Italy JeromePerret,Haption,Soulgé-sur-Ouette,France DomenicoPrattichizzo,UniversityofSiena,Siena,Italy Jee-HwanRyu,KoreaAdvancedInstituteofScienceandTechnology,Daejeon, Korea(Republicof) Jean-LouisThonnard,UniversitéCatholiquedeLouvain, Ottignies-Louvain-la-Neuve,Belgium YoshihiroTanaka,NagoyaInstituteofTechnology,Nagoya,Japan DangxiaoWang,BeihangUniversity,Beijing,China YuruZhang,BeihangUniversity,Beijing,China TheSpringerSeriesonTouchandHapticSystemsispublishedincollaborationwith theEuroHapticsSociety.Itisfocusedonpublishingnewadvancesanddevelopments inallaspectsofhaptics.Hapticsisamulti-disciplinaryfieldwithresearchersfrom Psychology,Physiology,Neurology,Engineering,andComputerScience(amongst others)contributingtoabetterunderstandingofthesenseoftouch,andresearching intohowtoimproveandreproduceHapticinteractionartificiallyinordertosimulate real scenarios. The series includes monographs focused on specific topics, edited volumescoveringgeneraltopicsfromdifferentperspectives,andselectedPhDtheses. BooksinthisseriesfocusonHapticsorHapticinterfacesincluding: (cid:129) Neuroscience (cid:129) Perception&Psychophysics (cid:129) HapticRendering (cid:129) DevicesandTechnology (cid:129) Medical&RehabilitationApplications (cid:129) Art&DesignApplications (cid:129) CollaborativeHaptics (cid:129) MutimodalInteraction (cid:129) TactileDisplay&Tactiles (cid:129) Sensing (cid:129) HapticHCI(Interaction,Visualization) Laurence Willemet The Biomechanics of the Tactile Perception of Friction LaurenceWillemet DepartmentofCognitiveRobotics DelftUniversityofTechnology Delft,TheNetherlands ISSN 2192-2977 ISSN 2192-2985 (electronic) SpringerSeriesonTouchandHapticSystems ISBN 978-3-031-16052-3 ISBN 978-3-031-16053-0 (eBook) https://doi.org/10.1007/978-3-031-16053-0 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SwitzerlandAG2022 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthors,andtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Tomymum,whotaughtmehowtoseethe rainbowinlife Series Editors’ Foreword Thisisthetwenty-firstvolumeof“SpringerSeriesonTouchandHapticSystems,” publishedasacollaborationbetweenSpringerandtheEuroHapticsSociety. TheBiomechanicsoftheTactilePerceptionofFrictionprovidesadetailedexposi- tionoftactileinteractionwithaparticularfocusontheroleoffrictionwhengrasping andmanipulatingobjects.Physicsandengineeringconceptsarecombinedtoexplain howfingerforcesareadaptedtoperformobjectmanipulation.Crucialistheroleof friction and a new theory of the perception of friction based on spatial-temporal deformationoftheskinisadvanced whichrepresentsanimportantcontributionto thefieldofhaptics. This volume will be of interest to researchers and designers interested in touch for perception and action, whether approaching the topic from the perspective of neuroscience,psychology,psychophysics,engineering,robotics,orprosthetics.Its clearlywrittentextwillappealbothtoexpertsseekingup-datesandnovelinsights intomechanismsoftouchformanipulationandtoadvancedstudents,forwhomthe interdisciplinaryperspectiveislikelytohaveaparticularappeal. ThisbookoriginatesfromthethesisofDr.LaurenceWillemet,whoreceivedthe EuroHaptics award for the Best Ph.D. Thesis in 2021. This award recognizes the contributionofthisworkinthefieldofhaptics. Madrid,Spain ManuelFerre Ulm,Germany MarcErnst Birmingham,UK AlanWing September2022 vii Preface Whenmanipulatingobjects,humansrelyontheirsenseoftouchtoperceivesubtle movements and micro slippages. This synergy between sensations and motion permitsthemtomanipulateanimpressiverangeofobjectsofdifferentsizes,shapes, andsurfaceproperties.Thisincredibledexterityreliesonfastandunconsciousadjust- mentsofthegripforcebyplacinga20%safetymarginbeforeslippingthatholdsan objectstrongenoughtoavoidacatastrophicfallyetgentleenoughnottodamageit. Inadditiontobeingaccurate,thisregulationisswift:Onlyahundredmilliseconds afterfirstmakingcontact,gripforcesarealreadyadjustedbytakingintoaccountthe actualfrictionalstrengthofthecontact.Thisastonishingperformanceisowedtothe senseoftouch,whichinformsonthephysicalpropertiesofthesurroundingworld andcontact state.Withinthefingertip,thousands of mechanoreceptors convert the complexmechanicalinteractionintoactionpotentials.However,howthebraincopes withlargeamountsofdatatoinferthestateofthecontactisstilldebated. Thisbookcovershowthecutaneoustactileafferentmadeitpossibleforaswift and precise regulation of the grip. Firstly, I show that humans can assess friction without slippage, suggesting thatthe radial stretch of the skin can provide enough information to regulate grip at the contact initialization. Secondly, I show that the perceptualsystemusesacompactcodetoestimatethesafetymarginfromtheskin deformation during an incipient slip, suggesting a mechanism to explain the rapid reactions.Finally,Iexposeanewmodelbasedoncontactmechanicstoquantifythe sensitivityofthemechanoreceptorstothepatternsofskindeformationhighlighted inthefirsttwochapters.Thismodelalsocorrelatesthespatialandtemporaldetection thresholdtodetectamovingstimulus,suggestingapersistenceoftouchthatbridges discretesensationsintoacontinuousstimulus. Takentogether,theseresultsrevealhowtheperceptionoffrictionisencodedinthe spatio-temporaldeformationoftheskin.Thefindingsareusefulfordesigningbio- inspiredtactilesensorsforroboticsorprostheticsandforimprovinghaptichuman- machineinteractions. Delft,TheNetherlands LaurenceWillemet ix Acknowledgements This book has been produced based on my Ph.D. thesis and I wish to express my sincere gratitude to my colleagues and mentors, and my family and friends who inspiredmeandhelpedmeduringthiswork. First and foremost, I would like to thank my advisor, Michaël Wiertlewski, for allowingmetogrowupasaresearcher.Hispassionandenthusiasmwerecontagious andagreatfactorofmotivationforme.Iwouldalsoliketothankhimforhisdaily curiosity.MygratitudealsogoestoBrunoCochelin,forhisgoodwillandrigor,which contributestoraisethisworktothehighestlevel. Mostoftheworkpresentedinthisbookisateamworkandwouldnothavebeen accomplished without the contributions and enticing discussions with my collab- orators: Ingvars Birznieks, Benoît Delhaye, Xi Lin, Khoubeib Kanzari, Jocelyn Monnoyer,NicolasHuloux,andAlessandroMoscatelli.Theywereanendlesssource ofmotivationformyworkandIfeelhonoredtohavetheopportunitytoworktogether. ThroughthePh.D.,Ialsoenjoyedthecompanyofcheerleadingcolleaguesfrom the Biorobotics team of the Institute of Movement Science in Marseille in France andfromtheCognitiveRoboticsDepartmentofTUDelft:CorentinBernard,Aimie Berger,StéphaneViolet,BeccaFriesen,YaseminVardar,Dirk-JanBoonstra. Last but not least, I would like to express my deepest thank to my family and friendsfortheirunwaveringsupportandforsharingjoybutalsotearsandfrustration. Noémie,Camille,Julien,Sélène,andNilay,thankyouforbeingaearwhenIneeded to talk, a shoulder when I needed to cry and especially a well of smiles and laugh inallthe other times.Final words gotomysisterwho walks next tomeinallthe hardships of life, my dad who always supported me to follow my dreams and my momwhotaughtmetonevergiveup. This research was sponsored by the Agence Nationale de la Recherche (ANRPhase). xi Contents 1 Introduction ................................................... 1 1.1 Motivations ................................................ 1 1.2 Overview .................................................. 3 References ..................................................... 4 2 StateoftheArt ................................................. 5 2.1 HowDoHumansInteract:Bio-TribologyofSkin ............... 5 2.1.1 FingerAnatomy ..................................... 6 2.1.2 MechanicalPropertiesofSkin ......................... 8 2.1.3 FrictionalPropertiesoftheSkin ........................ 11 2.1.4 MechanicalModelsofSkinTissue ..................... 15 2.2 How Do Humans Encode the Mechanical Deformation: Mechanotransduction ....................................... 20 2.2.1 FourTypesofAfferents ............................... 20 2.2.2 Summary ........................................... 22 2.3 HowDoHumansPerceive ................................... 23 2.3.1 TactileSensitivity .................................... 23 2.3.2 SlipDetection ....................................... 29 2.3.3 FrictionPerception ................................... 30 2.4 HowDoHumansManipulate:HumanHand’sAction ............ 31 2.4.1 ActionandPerception ................................ 31 2.4.2 GripForceControl ................................... 32 2.4.3 PassiveVersusActiveSensing ......................... 33 2.4.4 PredictiveCoding .................................... 34 2.5 Conclusion ................................................ 34 References ..................................................... 35 3 MechanicalModelofSkinDeformation .......................... 43 3.1 Introduction ............................................... 43 3.2 Finite-DifferenceMechanicalModel .......................... 44 xiii