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Human hands perform daily different tasks and the fingers skin comes in contact with many surfaces and objects. Grip task of objects can be performed by using different combination of the fingers. Precision grip task is influenced by several factors which decide the grip force of the individuals performing the task. This study aims to evaluate in vivo the coefficient of friction (COF) between a steel cylinder and the skin of fingers’ phalanges from both hands for three healthy subjects. The experiments were realized in a reciprocating-sliding contact with normal loads of 1 N and 2 N and sliding speed of 1 mm/s. Also, indentation tests were realized in order to determine the skin deformation of the fingers phalanges under normal loads. The indentation results show that distal phalanges (fingertip) play a significant role in deciding the grip force. The friction tests reveal that the coefficient of friction varies between 0.3 and 1.1 along the fingers phalanges according to the age, gender and skin structure of the test subjects. The distal phalanges of index and middle fingers showed the highest value of the coefficient of friction in the case of the subjects that mainly use the right hand. These aspects can be considered in developing devices for grip and sensing tasks applications.

Evaluation of friction behaviour on human finger skin considering precision grip task