Finite element evaluation of the effect of fingertip geometry on contact pressure during flat contact

A review on finite element modelling of finger and hand mechanical behaviour in haptic interactions

Touch perception largely depends on the mechanical properties of the soft tissues of the glabrous skin of fingers and hands. The correct modelling of the stress-strain state of these tissues during the interaction with external objects can provide insights on the exteroceptual mechanisms of human touch, offering design guidelines for artificial haptic systems. However, devising correct models of the finger and hand at contact is a challenging task, due to the biomechanical complexity of human skin. This work presents an overview of the use of Finite Element analysis for studying the stress-strain state in the glabrous skin of the hand, under different loading conditions. We summarize existing approaches for the design and validation of Finite Element models of the soft tissues of the human finger and hand, evaluating their capability to provide results that are valuable in understanding tactile perception. The goal of our work is to serve as a reference and provide guidelines for those approaching this modelling method for the study of human haptic perception.

Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact

The subcutaneous mechanical response of the fingertip is highly anisotropic due to the presence of a network of collagen fibers linking the outer skin layer to the bone. The impact of this anisotropy on the fingerpad deformation, which had not been studied until now, is here demonstrated using a two-dimensional finite element model of a transverse section of the finger. Different distributions of fiber orientations are considered: radial (physiologic), circumferential, and random (isotropic). The three variants of the model are assessed using experimental observations of a finger pressed on a flat surface. Predictions relying on the physiological orientation of fibers best reproduce experimental trends. Our results show that the orientation of fibers significantly influences the distribution of internal strains and stresses. This leads to a sudden change in the profile of contact pressure when transitioning from sticking to slipping. Interpreted in terms of tactile perception or sensation, these variations might represent important sensory cues for partial slip detection. This is also valuable information for the development of haptic devices.

An individual's skin stiffness predicts their tactile discrimination of compliance

Individual differences in tactile acuity have been correlated with age, gender and finger size, whereas the role of the skin's stiffness has been underexplored. Using an approach to image the 3-D deformation of the skin surface during contact with transparent elastic objects, we evaluate a cohort of 40 young participants, who present a diverse range of finger size, skin stiffness and fingerprint ridge breadth. The results indicate that skin stiffness generally correlates with finger size, although individuals with relatively softer skin can better discriminate compliant objects. Analysis of contact at the skin surface reveals that softer skin generates more prominent patterns of deformation, in particular greater rates of change in contact area, which correlate with higher rates of perceptual discrimination of compliance, regardless of finger size. Moreover, upon applying hyaluronic acid to soften individuals' skin, we observe immediate, marked and systematic changes in skin deformation and consequent improvements in perceptual acuity in differentiating compliance. Together, the combination of 3-D imaging of the skin surface, biomechanics measurements, multivariate regression and clustering, and psychophysical experiments show that subtle distinctions in skin stiffness modulate the mechanical signalling of touch and shape individual differences in perceptual acuity. KEY POINTS: Although declines in tactile acuity with ageing are a function of multiple factors, for younger people, the current working hypothesis has been that smaller fingers are better at informing perceptual discrimination because of a higher density of neural afferents. To decouple relative impacts on tactile acuity of skin properties of finger size, skin stiffness, and fingerprint ridge breadth, we combined 3-D imaging of skin surface deformation, biomechanical measurements, multivariate regression and clustering, and psychophysics. The results indicate that skin stiffness generally correlates with finger size, although it more robustly correlates with and predicts an individual's perceptual acuity. In particular, more elastic skin generates higher rates of deformation, which correlate with perceptual discrimination, shown most dramatically by softening each participant's skin with hyaluronic acid. In refining the current working hypothesis, we show the skin's stiffness strongly shapes the signalling of touch and modulates individual differences in perceptual acuity.

An individual's skin stiffness predicts their tactile acuity

Individual differences in tactile acuity have been correlated with age, gender, and finger size, while the role of the skin's stiffness has been underexplored. Using an approach to image the 3-D deformation of the skin surface while in contact with transparent elastic objects, we evaluate a cohort of 40 young participants, who present a diverse range of finger size, skin stiffness, and fingerprint ridge breadth. The results indicate that skin stiffness generally correlates with finger size, although individuals with relatively softer skin can better discriminate compliant objects. Analysis of contact at the skin surface reveals that softer skin generates more prominent patterns of deformation, in particular greater rates of change in contact area, which correlate with higher rates of perceptual discrimination, regardless of finger size. Moreover, upon applying hyaluronic acid to soften individuals' skin, we observe immediate, marked and systematic changes in skin deformation and consequent improvements in perceptual acuity. Together, the combination of 3-D imaging of the skin surface, biomechanics measurements, multivariate regression and clustering, and psychophysical experiments show that subtle distinctions in skin stiffness modulate the mechanical signaling of touch and shape individual differences in perceptual acuity.

Analysis of subject specific grasping patterns

Existing haptic feedback devices are limited in their capabilities and are often cumbersome and heavy. In addition, these devices are generic and do not adapt to the users’ grasping behavior. Potentially, a human-oriented design process could generate an improved design. While current research done on human grasping was aimed at finding common properties within the research population, we investigated the dynamic patterns that make human grasping behavior distinct rather than generalized, i.e. subject specific. Experiments were conducted on 31 subjects who performed grasping tasks on five different objects. The kinematics and kinetics parameters were measured using a motion capture system and force sensors. The collected data was processed through a pipeline of dimensionality reduction and clustering algorithms. Using finger joint angles and reaction forces as our features, we were able to classify these tasks with over 95% success. In addition, we examined the effects of the objects’ mechanical properties on those patterns and the significance of the different features for the differentiation. Our results suggest that grasping patterns are, indeed, subject-specific; this, in turn, could suggest that a device capable of providing personalized feedback can improve the user experience and, in turn, increase the usability in different applications. This paper explores an undiscussed aspect of human dynamic patterns. Furthermore, the collected data offer a valuable dataset of human grasping behavior, containing 1083 grasp instances with both kinetics and kinematics data.

A novel anatomical woodworking chisel handle

A novel anatomically shaped ("anatomical") woodworking chisel handle was developed for wood scraping operation. 18 students participated in an evaluation study to compare the new handle against seven readymade handles of ¾-inch bench chisels in the context of a standard wood scraping task. A comfort questionnaire for hand tools (CQH) and a hand-based pain map were used for evaluating and comparing the handles. 'Functionality' and 'sweating' were found to be the most and least important comfort concerns, respectively. Maximum pain was reported at distal digit 1, and least pain at proximal digit 4. The anatomical handle was rated best for most of the comfort descriptors, least painful for most hand regions and took the least time for a standardized task.

SIMPLIFIED VERSUS REAL GEOMETRY FINGERTIP MODELS: A FINITE ELEMENT STUDY TO PREDICT FORCE–DISPLACEMENT RESPONSE UNDER FLAT CONTACT COMPRESSION

Finite element fingertip models are useful tools to assess product ergonomics. While “real geometry” approaches provide accurate results, developing models requires medical images. “Simpified geometry” approaches have to date not been tested to see whether they can provide equally accurate results in terms of mechanical response, i.e. force-displacement response and dimensions of fingertip contact area. Four fingertip models were built either from medical images (Visible Human project) or from simplified geometries. Simulations of fingertip flat contact compression at 20[Formula: see text] were performed. A 2nd order hyperelastic material property was used to effectively reproduce the mechanical behavior of the fingertip. Models based on simplified geometries such as conics proved as accurate as models reconstructed from medical images. However, accurate positioning of the bony phalanx is paramount if a biofidelic mechanical response is to be reproduced.

MRI-based experimentations of fingertip flat compression: Geometrical measurements and finite element inverse simulations to investigate material property parameters

Modeling human-object interactions is a necessary step in the ergonomic assessment of products. Fingertip finite element models can help investigating these interactions, if they are built based on realistic geometrical data and material properties. The aim of this study was to investigate the fingertip geometry and its mechanical response under compression, and to identify the parameters of a hyperelastic material property associated to the fingertip soft tissues. Fingertip compression tests in an MRI device were performed on 5 subjects at either 2 or 4 N and at 15° or 50°. The MRI images allowed to document both the internal and external fingertip dimensions and to build 5 subject-specific finite element models. Simulations reproducing the fingertip compression tests were run to obtain the material property parameters of the soft tissues. Results indicated that two ellipses in the sagittal and longitudinal plane could describe the external fingertip geometry. The internal geometries indicated an averaged maximal thickness of soft tissues of 6.4 ± 0.8 mm and a 4 ± 1 mm height for the phalanx bone. The averaged deflections under loading went from 1.8 ± 0.3 mm at 2 N, 50° to 3.1 ± 0.2 mm at 4 N, 15°. Finally, the following set of parameters for a second order hyperelastic law to model the fingertip soft tissues was proposed: C₀₁=0.59 ± 0.09 kPa and C₂₀ = 2.65 ± 0.88 kPa. These data should facilitate further efforts on fingertip finite element modeling.

Interdependency of the maximum range of flexion-extension of hand metacarpophalangeal joints

Mobility of the fingers metacarpophalangeal (MCP) joints depends on the posture of the adjacent ones. Current Biomechanical hand models consider fixed ranges of movement at joints, regardless of the posture, thus allowing for non-realistic postures, generating wrong results in reach studies and forward dynamic analyses. This study provides data for more realistic hand models. The maximum voluntary extension (MVE) and flexion (MVF) of different combinations of MCP joints were measured covering their range of motion. Dependency of the MVF and MVE on the posture of the adjacent MCP joints was confirmed and mathematical models obtained through regression analyses (RMSE 7.7°).