Please use this identifier to cite or link to this item: https://doi.org/10.1007/s12369-008-0008-9
Title: Towards humanlike social touch for sociable robotics and prosthetics: Comparisons on the compliance, conformance and hysteresis of synthetic and human fingertip skins
Authors: Cabibihan, J.-J. 
Pattofatto, S.
Jomâa, M.
Benallal, A.
Carrozza, M.C.
Keywords: Artificial skin
Bio-robotics and biomedical robotics
Conformance
Finite element method
Hysteresis
Prosthetics
Skin compliance
Issue Date: Jan-2009
Source: Cabibihan, J.-J., Pattofatto, S., Jomâa, M., Benallal, A., Carrozza, M.C. (2009-01). Towards humanlike social touch for sociable robotics and prosthetics: Comparisons on the compliance, conformance and hysteresis of synthetic and human fingertip skins. International Journal of Social Robotics 1 (1) : 29-40. ScholarBank@NUS Repository. https://doi.org/10.1007/s12369-008-0008-9
Abstract: The artificial hands for sociable robotics and prosthetics are expected to be touched by other people. Because the skin is the main interface during the contact, a need arises to duplicate humanlike characteristics for artificial skins for safety and social acceptance. Towards the goal of replicating humanlike social touch, this paper compares the skin compliance, conformance and hysteresis of typical robotic and prosthetic skin materials, such as silicone and polyurethane, with the published biomechanical behavior of the human fingertip. The objective was achieved through materials characterization, finite element (FE) modeling and validation experiments. Our initial attempt showed that the selected types of silicone and polyurethane materials did not exhibit the same qualities as the human fingertip skin. However, the methodologies described herein can be used to evaluate other materials, their possible combinations or other fingertip design configurations. © Springer 2008.
Source Title: International Journal of Social Robotics
URI: http://scholarbank.nus.edu.sg/handle/10635/57691
ISSN: 18754791
DOI: 10.1007/s12369-008-0008-9
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