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Towards Humanlike Social Touch for Sociable Robotics and Prosthetics: Comparisons on the Compliance, Conformance and Hysteresis of Synthetic and Human Fingertip Skins

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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.

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Authors and Affiliations

  1. Social Robotics Laboratory, Interactive and Digital Media Institute and the Dept. of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    John-John Cabibihan

  2. Ecole Normale Supérieure de Cachan (ENS-C)/Centre National de la Recherche Scientifique (CNRS)/Université Paris 6/Laboratoire de Mécanique et Technologie (LMT), Cachan, France

    Stéphane Pattofatto, Moez Jomâa & Ahmed Benallal

  3. SINTEF Materials and Chemistry, Oslo, Norway

    Moez Jomâa

  4. Advanced Robotics Technologies and Systems Laboratory, Scuola Superiore Sant’Anna, viale R. Piaggio 34, 56025, Pontedera, Pisa, Italy

    John-John Cabibihan & Maria Chiara Carrozza

Authors
  1. John-John Cabibihan
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  2. Stéphane Pattofatto
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  3. Moez Jomâa
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  4. Ahmed Benallal
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  5. Maria Chiara Carrozza
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Correspondence to Maria Chiara Carrozza.

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Cabibihan, JJ., Pattofatto, S., Jomâa, M. et al. Towards Humanlike Social Touch for Sociable Robotics and Prosthetics: Comparisons on the Compliance, Conformance and Hysteresis of Synthetic and Human Fingertip Skins. Int J of Soc Robotics 1, 29–40 (2009). https://doi.org/10.1007/s12369-008-0008-9

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  • DOI: https://doi.org/10.1007/s12369-008-0008-9

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