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Human fingertip and its derivatives in robotics possess an inhomogeneous structure with skin, tissue, bone , and nail; which causes troublesome for construction of a precis e model that can represent almost mechanical characteristic s, especially during sliding motion. Commonly, models in a vir tual haptic environment are frictionless, thus attempts to display tactile sensations are still remained unsolved. We have pro p sed a Beam Bundle Model for modeling of a human fingertip during pushing and sliding action with friction, especially stickto-slip transition, to overcome mentioned issues. In orderto construct its three-dimensional non-homogeneous structu re, we took sequential series of magnetic resonant images, which b ring consecutive cross-sectional layers of the human fingertip w ith distribution of skin, tissue, bone, and nail. Simulation results show a twofold aspect. Firstly, it can generate not only normal force distribution caused by pushing, but also response of friction force during sliding. Secondly, and more interestingly, the model dynamically produces localized displacement phe nomenon on the contact area during stick-to-slip phase, whi ch indicates how slippageerodes the contact area before the total slippage of the fingertip occurs. This research helps to asse s the sliding process of the human fingertip, including how and when the slippage occurs on the contact surface. This model may also act as a platform for studying tactile perception of the fingertip, as well as being a virtual environment for haptic interfaces.

Toward a Platform of Human-Like Fingertip Model in Haptic Environment for Studying Sliding Tactile Mechanism