The frictional pattern of tactile sensations in anthropomorphic fingertip

► The author looked at functions of a “non-uniformity”, e.g., the shape and hardness of a human fingertip (cf., in case of a robot hand, these are mostly uniform.), and investigated these functions in terms of a friction coefficient for a tactile sensation. ► The frictional difference caused by non-uniformities of a human fingertip helps a tactile sensation. ► The author demonstrated FTS (frictional tactile sensations) in an anthropomorphic fingertip with the function of non-uniformities and confirmed the feasibility of FTS.