Prehension of the Small Cylindrical Objects by the Human Fingers: Friction and Adherence Processes

The authors experimentally investigated the friction and adherence between small cylindrical objects and human fingers. The experiments were realized for low normal loads between small cylinders and human fingers and low sliding speed. Were obtained variation of adherence and sliding forces as function of time during the reciprocating-sliding of the small cylindrical bodies on soft skin of the human finger. Were evidenced cyclically deformed and relaxed of the lateral skin as a result of reciprocating motion of the cylinders and were determined the corresponding forces. Also, was evidenced the “butterfly” configuration between the tangential force and lateral displacement.