An instrument to characterize the dynamic compliance of skin

This paper presents a novel device that measures the mechanical compliance of skin. Such information is useful for determining the physical condition of the skin as well as for applications that involve mimicking human skin compliance, for example, the design of compliant robotic grippers. The system estimates the compliance, natural frequency, and damping ratio of the finger being tested.

► We created a low-cost, hand-held instrument for measuring skin compliance. ► We apply stochastic system identification algorithms for measuring skin properties. ► The instrument determines the non-parametric dynamic compliance. ► The static compliance, natural frequency, and damping ratio of skin can be measured. ► Applications include assessing skin health and mimicking skin properties in robotic grippers.