Experimental determination of the Young's modulus for the fingers with application in prehension systems for small cylindrical objects

Oprisan, Cezar; Cârlescu, Vlad; Barnea, Alexandru; Prisacaru, Gh; Olaru, Dumitru; Plesu, Gh

doi:10.1088/1757-899x/147/1/012058

Cited by 20 publications

(20 citation statements)

References 6 publications

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“…In examining the test stimuli used in prior studies, a wide range of magnitude in modulus is encountered (10 – 2,700 kPa) with upper values exceeding 2,500 kPa [2], [3], [9]–[18]. This is much stiffer than finger pad skin, which ranges from 42-130 kPa [19], [20]. Given the variety of characterization techniques and mathematical assumptions, one could question if reported compliances are accurate and/or comparable.…”

Section: Introductionmentioning

confidence: 99%

A Standard Methodology to Characterize the Intrinsic Material Properties of Compliant Test Stimuli

Gerling

Hauser

Soltis

et al. 2018

IEEE Trans. Haptics

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Understanding how we perceive differences in material compliance, or 'softness,' is a central topic in the field of haptics. The intrinsic elasticity of an object is the primary factor thought to influence our perceptual estimates. Therefore, most studies test and report the elasticity of their stimuli, typically as stiffness or modulus. However, many reported estimates are of very high magnitude for silicone-elastomers, which may be due to artifacts in characterization technique. This makes it very difficult to compare the perceptual results between the studies. The work herein defines a standardized and easy-to-implement way to characterize test stimuli. The procedure involves the unconstrained, uniaxial compression of a plate into cylindrical substrates 10 mm tall by 10 mm diameter. The resultant force-displacement data are straightforwardly converted into stress-strain data, from which a modulus is readily derived. This procedure was used to re-characterize stimuli from prior studies. The revised results from the validated method herein are 200-1,100% lower than modulus values either reported and/or approximated from stiffness. This is practically significant when differences of 10-15% are perceptually discriminable. The re-characterized estimates are useful in comparing prior studies and designing new studies. Furthermore, this characterization methodology may help more readily bridge studies on perception with those designing technology.

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Section: Introductionmentioning

confidence: 99%

A Standard Methodology to Characterize the Intrinsic Material Properties of Compliant Test Stimuli

Gerling

Hauser

Soltis

et al. 2018

IEEE Trans. Haptics

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show abstract

“…We supposed that, at this very speed indentation ( v = 0.02 mm/s), the damping effect in the finger tissue can be neglected and the finger deformation is dominant elastic. According to the methodology presented in [ 17 ], the variation of the Young’s modulus was determined with the indentation force Fz , by fitting the deformation–force curves in the vicinity of the indentation force from 0.1 to 7 N. In Figure 6 and Figure 7 , the fitted curves in the vicinity of the forces 0.5 and 5 N, respectively, are presented.…”

Section: Resultsmentioning

confidence: 99%

“… In vivo contact cylinder—middle finger ( a ); the geometrical parameters and Hertz deformation in the contact between cylinder and middle finger ( b ) [ 17 ]. …”

Section: Figurementioning

confidence: 99%

“…The contact deformation between cylinder and finger has been solved by using the Hertz model and the Young’s modulus of the finger, being adopted from literature. Because the Young modulus of the human skin is a complex parameter and has a large variation in literature depending on the determined method, normal load, age, and humidity, Oprisan et al [ 17 ] developed a new methodology to determine the effective Young’s modulus of the finger skin. The authors’ methodology is based on the equivalence between measured indented deformation of the finger’s skin and calculated of the indented deformation by using Hertzian contact model.…”

Section: Introductionmentioning

confidence: 99%

“…The authors’ methodology is based on the equivalence between measured indented deformation of the finger’s skin and calculated of the indented deformation by using Hertzian contact model. The results obtained by Oprisan et al [ 17 ] indicate an increasing of the effective Young’s modulus by an increasing of the indenter’s force. Excepting the indentation with a sine displacement function [ 13 ], the other indentation methods adopted a constant or variable normal force with imposed indentation speed, with a lot of indentation conditions.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Sensors and Actuators on Determining Parameters for Being Considered in Selection of Elastomers for Biomimetic Hands

Cârlescu

Olaru

Prisăcaru

et al. 2017

Sensors

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In this paper, the authors present a new methodology to study the viscoelastic behaviour of the human finger. The methodology is based on experimental research consisting of a finger’s indentation with a small steel cylindrical object for various indentation speeds. The tests were realized on a CETR UMT-2 Tribometer for indentation speed between 0.02 mm/s and 4 mm/s with a normal load of up to 22 N. Using the force–deformation diagrams recorded at the smallest indentation speed determined the elastic modulus of the human finger according to an adapted Hertzian model. By considering the increasing of the indentation force with indentation speed, the viscous component of the human finger was evidenced. The power dissipated in the finger tissue as a result of the prehension process has been obtained as a function of indentation speed and indentation depth. In addition, a general equation for the prehension force as a function of indentation speed and indentation depth has been obtained. The results of this study will be relevant for selection of the specific elastomers used in biomimetic hands.

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Influence of Hand Sanitisers on the Friction Properties of the Finger Skin Amid the COVID-19 Pandemic

Cârlescu

Oprișan

Chiriac

et al. 2021

Lecture Notes in Mechanical Engineering

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Experimental determination of the Young's modulus for the fingers with application in prehension systems for small cylindrical objects

Cited by 20 publications

References 6 publications

A Standard Methodology to Characterize the Intrinsic Material Properties of Compliant Test Stimuli

A Standard Methodology to Characterize the Intrinsic Material Properties of Compliant Test Stimuli

Sensors and Actuators on Determining Parameters for Being Considered in Selection of Elastomers for Biomimetic Hands

Influence of Hand Sanitisers on the Friction Properties of the Finger Skin Amid the COVID-19 Pandemic

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