Mechanical behavior of the fingertip in the range of frequencies and displacements relevant to touch

It was previously suggested that the mechanical properties of the fingertip could be characterized by elasticity from dc to about 100 Hz and by viscosity above this frequency. Using a specifically designed high mobility probe, we accurately measured the impedance of the fingertips of seven participants under a variety of conditions relevant to purposeful touch. Direct measurements vindicated previous indirect observations. We also characterized the dependency of the fingertip impedance upon normal load, orientation, and time.