Fingertip Recovery Time Depending on Viscoelasticity

  • Maria Laura D’Angelo
  • Darwin G. Caldwell
  • Ferdinando Cannella
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9774)


The aim of this paper is to investigate the recovery time of human-fingertip’s mechanical properties after indentations cycles. To determine the influencing parameters, three indentation velocities, five recovery times and three subjects were tested. During each experiment, the fingertip of participant was driven against a flat surface, while indentation displacement and velocity were controlled. The results show not only the indentation forces values increase depending on the indentation velocity increment, but also they decrease depending on the number of cycles. While the fingertip recovery depends on the time, but not on the indentation velocity. Finally the recovery time was determined: in 5 min the fingertip restored 99.6 % of the initial mechanical properties.


Recovery time Viscoelasticity effect Fingertip mechanical properties Indentation pulp cycles 



The authors wish to acknowledge Matteo Bianchi, Prof. Gianluca Rossi and Prof. Antonio Bicchi who contributed in test rig development. This work was supported in parts by grants from the EU FP7 (project no. 601165 WEARHAP).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Maria Laura D’Angelo
    • 1
  • Darwin G. Caldwell
    • 1
  • Ferdinando Cannella
    • 1
  1. 1.Department of Advanced RoboticsIstituto Italiano di TecnologiaGenoaItaly

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