An individual's skin stiffness predicts their tactile discrimination of compliance.

Individual differences in tactile acuity have been correlated with age, gender and finger size, whereas the role of the skin's stiffness has been underexplored. Using an approach to image the 3-D deformation of the skin surface during contact with transparent elastic objects, we evaluate a cohort of 40 young participants, who present a diverse range of finger size, skin stiffness and fingerprint ridge breadth. The results indicate that skin stiffness generally correlates with finger size, although individuals with relatively softer skin can better discriminate compliant objects. Analysis of contact at the skin surface reveals that softer skin generates more prominent patterns of deformation, in particular greater rates of change in contact area, which correlate with higher rates of perceptual discrimination of compliance, regardless of finger size. Moreover, upon applying hyaluronic acid to soften individuals' skin, we observe immediate, marked and systematic changes in skin deformation and consequent improvements in perceptual acuity in differentiating compliance. Together, the combination of 3-D imaging of the skin surface, biomechanics measurements, multivariate regression and clustering, and psychophysical experiments show that subtle distinctions in skin stiffness modulate the mechanical signalling of touch and shape individual differences in perceptual acuity. KEY POINTS: Although declines in tactile acuity with ageing are a function of multiple factors, for younger people, the current working hypothesis has been that smaller fingers are better at informing perceptual discrimination because of a higher density of neural afferents. To decouple relative impacts on tactile acuity of skin properties of finger size, skin stiffness, and fingerprint ridge breadth, we combined 3-D imaging of skin surface deformation, biomechanical measurements, multivariate regression and clustering, and psychophysics. The results indicate that skin stiffness generally correlates with finger size, although it more robustly correlates with and predicts an individual's perceptual acuity. In particular, more elastic skin generates higher rates of deformation, which correlate with perceptual discrimination, shown most dramatically by softening each participant's skin with hyaluronic acid. In refining the current working hypothesis, we show the skin's stiffness strongly shapes the signalling of touch and modulates individual differences in perceptual acuity.

The Language of Social Touch Is Intuitive and Quantifiable.

Touch is a powerful communication tool, but we have a limited understanding of the role played by particular physical features of interpersonal touch communication. In this study, adults living in Sweden performed a task in which messages (attention, love, happiness, calming, sadness, and gratitude) were conveyed by a sender touching the forearm of a receiver, who interpreted the messages. Two experiments (N = 32, N = 20) showed that within close relationships, receivers could identify the intuitive touch expressions of the senders, and we characterized the physical features of the touches associated with successful communication. Facial expressions measured with electromyography varied by message but were uncorrelated with communication performance. We developed standardized touch expressions and quantified the physical features with 3D hand tracking. In two further experiments (N = 20, N = 16), these standardized expressions were conveyed by trained senders and were readily understood by strangers unacquainted with the senders. Thus, the possibility emerges of a standardized, intuitively understood language of social touch.

An elasticity-curvature illusion decouples cutaneous and proprioceptive cues in active exploration of soft objects.

Our sense of touch helps us encounter the richness of our natural world. Across a myriad of contexts and repetitions, we have learned to deploy certain exploratory movements in order to elicit perceptual cues that are salient and efficient. The task of identifying optimal exploration strategies and somatosensory cues that underlie our softness perception remains relevant and incomplete. Leveraging psychophysical evaluations combined with computational finite element modeling of skin contact mechanics, we investigate an illusion phenomenon in exploring softness; where small-compliant and large-stiff spheres are indiscriminable. By modulating contact interactions at the finger pad, we find this elasticity-curvature illusion is observable in passive touch, when the finger is constrained to be stationary and only cutaneous responses from mechanosensitive afferents are perceptible. However, these spheres become readily discriminable when explored volitionally with musculoskeletal proprioception available. We subsequently exploit this phenomenon to dissociate relative contributions from cutaneous and proprioceptive signals in encoding our percept of material softness. Our findings shed light on how we volitionally explore soft objects, i.e., by controlling surface contact force to optimally elicit and integrate proprioceptive inputs amidst indiscriminable cutaneous contact cues. Moreover, in passive touch, e.g., for touch-enabled displays grounded to the finger, we find those spheres are discriminable when rates of change in cutaneous contact are varied between the stimuli, to supplant proprioceptive feedback.

Distinction of self-produced touch and social touch at cortical and spinal cord levels.

Differentiation between self-produced tactile stimuli and touch by others is necessary for social interactions and for a coherent concept of "self." The mechanisms underlying this distinction are unknown. Here, we investigated the distinction between self- and other-produced light touch in healthy volunteers using three different approaches: fMRI, behavioral testing, and somatosensory-evoked potentials (SEPs) at spinal and cortical levels. Using fMRI, we found self-other differentiation in somatosensory and sociocognitive areas. Other-touch was related to activation in several areas, including somatosensory cortex, insula, superior temporal gyrus, supramarginal gyrus, striatum, amygdala, cerebellum, and prefrontal cortex. During self-touch, we instead found deactivation in insula, anterior cingulate cortex, superior temporal gyrus, amygdala, parahippocampal gyrus, and prefrontal areas. Deactivation extended into brain areas encoding low-level sensory representations, including thalamus and brainstem. These findings were replicated in a second cohort. During self-touch, the sensorimotor cortex was functionally connected to the insula, and the threshold for detection of an additional tactile stimulus was elevated. Differential encoding of self- vs. other-touch during fMRI correlated with the individual self-concept strength. In SEP, cortical amplitudes were reduced during self-touch, while latencies at cortical and spinal levels were faster for other-touch. We thus demonstrated a robust self-other distinction in brain areas related to somatosensory, social cognitive, and interoceptive processing. Signs of this distinction were evident at the spinal cord. Our results provide a framework for future studies in autism, schizophrenia, and emotionally unstable personality disorder, conditions where symptoms include social touch avoidance and poor self-vs.-other discrimination.

Computation predicts rapidly adapting mechanotransduction currents cannot account for tactile encoding in Merkel cell-neurite complexes.

Distinct firing properties among touch receptors are influenced by multiple, interworking anatomical structures. Our understanding of the functions and crosstalk of Merkel cells and their associated neurites-the end organs of slowly adapting type I (SAI) afferents-remains incomplete. Piezo2 mechanically activated channels are required both in Merkel cells and in sensory neurons for canonical SAI responses in rodents; however, a central unanswered question is how rapidly inactivating currents give rise to sustained action potential volleys in SAI afferents. The computational model herein synthesizes mechanotransduction currents originating from Merkel cells and neurites, in context of skin mechanics and neural dynamics. Its goal is to mimic distinct spike firing patterns from wildtype animals, as well as Atoh1 knockout animals that completely lack Merkel cells. The developed generator function includes a Merkel cell mechanism that represents its mechanotransduction currents and downstream voltage-activated conductances (slower decay of current) and a neurite mechanism that represents its mechanotransduction currents (faster decay of current). To mimic sustained firing in wildtype animals, a longer time constant was needed than the 200 ms observed for mechanically activated membrane depolarizations in rodent Merkel cells. One mechanism that suffices is to introduce an ultra-slowly inactivating current, with a time constant on the order of 1.7 s. This mechanism may drive the slow adaptation of the sustained response, for which the skin's viscoelastic relaxation cannot account. Positioned within the sensory neuron, this source of current reconciles the physiology and anatomical characteristics of Atoh1 knockout animals.

Computational modeling indicates that surface pressure can be reliably conveyed to tactile receptors even amidst changes in skin mechanics.

Distinct patterns in neuronal firing are observed between classes of cutaneous afferents. Such differences may be attributed to end-organ morphology, distinct ion-channel complements, and skin microstructure, among other factors. Even for just the slowly adapting type I afferent, the skin's mechanics for a particular specimen might impact the afferent's firing properties, especially given the thickness and elasticity of skin can change dramatically over just days. Here, we show computationally that the skin can reliably convey indentation magnitude, rate, and spatial geometry to the locations of tactile receptors even amid changes in skin's structure. Using finite element analysis and neural dynamics models, we considered the skin properties of six mice that span a representative cohort. Modeling the propagation of the surface stimulus to the interior of the skin demonstrated that there can be large variance in stresses and strains near the locations of tactile receptors, which can lead to large variance in static firing rate. However, variance is significantly reduced when the stimulus tip is controlled by surface pressure and compressive stress is measured near the end organs. This particular transformation affords the least variability in predicted firing rates compared with others derived from displacement, force, strain energy density, or compressive strain. Amid changing skin mechanics, stimulus control by surface pressure may be more naturalistic and optimal and underlie how animals actively explore the tactile environment.

An individual's skin stiffness predicts their tactile acuity.

Individual differences in tactile acuity have been correlated with age, gender, and finger size, while the role of the skin's stiffness has been underexplored. Using an approach to image the 3-D deformation of the skin surface while in contact with transparent elastic objects, we evaluate a cohort of 40 young participants, who present a diverse range of finger size, skin stiffness, and fingerprint ridge breadth. The results indicate that skin stiffness generally correlates with finger size, although individuals with relatively softer skin can better discriminate compliant objects. Analysis of contact at the skin surface reveals that softer skin generates more prominent patterns of deformation, in particular greater rates of change in contact area, which correlate with higher rates of perceptual discrimination, regardless of finger size. Moreover, upon applying hyaluronic acid to soften individuals' skin, we observe immediate, marked and systematic changes in skin deformation and consequent improvements in perceptual acuity. Together, the combination of 3-D imaging of the skin surface, biomechanics measurements, multivariate regression and clustering, and psychophysical experiments show that subtle distinctions in skin stiffness modulate the mechanical signaling of touch and shape individual differences in perceptual acuity.

Social and Emotional Touch Between Romantic Partners is Affectively More Pleasant Due to Finely Tuned Contact Interactions.

Our daily observations tell us that the delivery of social sentiments and emotions differs between strangers and romantic partners. This work explores how relationship status influences our delivery and perception of social touches and emotions, by evaluating the physics of contact interactions. In a study with human participants, strangers and romantically involved touchers delivered emotional messages to receivers' forearms. Physical contact interactions were measured using a customized 3D tracking system. The results indicate that strangers and romantic receivers recognize emotional messages with similar accuracy, but with higher levels of valence and arousal between romantic partners. Further investigation into the contact interactions which underlie the higher levels of valence and arousal reveals that a toucher tunes their strategy with their romantic partner. For example, when stroking, romantic touchers use velocities preferential to C-tactile afferents, and maintain contact for longer durations with larger contact areas. Notwithstanding, while we show that relationship intimacy influences the deployment of touch strategies, such impact is relatively subtle compared to distinctions between gestures, emotional messages, and individual preferences.

Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects.

To discriminate the compliance of soft objects, we rely upon spatiotemporal cues in the mechanical deformation of the skin. However, we have few direct observations of skin deformation over time, in particular how its response differs with indentation velocities and depths, and thereby helps inform our perceptual judgments. To help fill this gap, we develop a 3D stereo imaging method to observe contact of the skin's surface with transparent, compliant stimuli. Experiments with human-subjects, in passive touch, are conducted with stimuli varying in compliance, indentation depth, velocity, and time duration. The results indicate that contact durations greater than 0.4 s are perceptually discriminable. Moreover, compliant pairs delivered at higher velocities are more difficult to discriminate because they induce smaller differences in deformation. In a detailed quantification of the skin's surface deformation, we find that several, independent cues aid perception. In particular, the rate of change of gross contact area best correlates with discriminability, across indentation velocities and compliances. However, cues associated with skin surface curvature and bulk force are also predictive, for stimuli more and less compliant than skin, respectively. These findings and detailed measurements seek to inform the design of haptic interfaces.

Human-Delivered Brushstroke Characterization using an Instrumented Brush Focused on Torque.

Pleasant brush therapies may benefit those with autism, trauma, and anxiety. While studies monitor brushing velocity, hand-delivery of brush strokes introduces variability. Detailed measurements of human-delivered brushing physics may help understand such variability and subsequent impact on receivers' perceived pleasantness. Herein, we instrument a brush with multi-axis force and displacement sensors to measure their physics as 12 participants pleasantly stroke a receiver's forearm. Algorithmic procedures identify skin contact, and define four stages of arrival, stroke, departure, and airtime between strokes. Torque magnitude, rather than force, is evaluated as a metric to minimize inertial noise, as it registers brush bend and orientation. Overall, the results of the naturally delivered brushing experiments indicate force and velocity values in the range of 0.4 N and 3-10 cm/s, in alignment with prior work. However, we observe significant variance between brushers across velocity, force, torque, and brushstroke length. Upon further analysis, torque and force measures are correlated, yet torque provides distinct information from velocity. In evaluating the receiver's response to individual differences between brushers of the preliminary case study, higher pleasantness is tied to lower mean torque, and lower instantaneous variance over the stroke duration. Torque magnitude appears to complement velocity's influence on perceived pleasantness.

Optical Measurements of the Skin Surface to Infer Bilateral Distinctions in Myofascial Tissue Stiffness.

About half the U.S. adult population suffers from chronic neuromusculoskeletal pain. While its evaluation and treatment are widely addressed by therapies using soft tissue manipulation (STM), their efficacy is based upon clinician judgment. Robust biomarkers are needed to quantify the effects of STM on patient outcomes. Among noninvasive methods to quantify the mechanics of myofascial tissue, most are limited to small (<10 mm2), localized regions of interest. In contrast, we develop an approach to optically simultaneously measure a larger (~100 cm2) field of deformation at the skin surface. Biomarkers based on skin lateral mobility are derived to infer distinctions in myofascial tissue stiffness. In specific, three cameras track ink speckles whose fields of deformation and stretch are resolved with digital image correlation. Their ability to differentiate bilateral distinctions of the cervicothoracic region is evaluated with four participants, as a licensed clinician performs STM. The results indicate that the optically derived surface biomarkers can differentiate bilateral differences in skin mobility, with trend directions within a participant similar to measurements with an instrumented force probe. These findings preliminarily suggest skin surface measurements are capable of inferring underlying myofascial tissue stiffness, although further confirmation will require a larger, more diverse group of participants.

The cellular basis of mechanosensation in mammalian tongue.

Mechanosensory neurons that innervate the tongue provide essential information to guide feeding, speech, and social grooming. We use in vivo calcium imaging of mouse trigeminal ganglion neurons to identify functional groups of mechanosensory neurons innervating the anterior tongue. These sensory neurons respond to thermal and mechanical stimulation. Analysis of neuronal activity patterns reveal that most mechanosensory trigeminal neurons are tuned to detect moving stimuli across the tongue. Using an unbiased, multilayer hierarchical clustering approach to classify pressure-evoked activity based on temporal response dynamics, we identify five functional classes of mechanosensory neurons with distinct force-response relations and adaptation profiles. These populations are tuned to detect different features of touch. Molecular markers of functionally distinct clusters are identified by analyzing cluster representation in genetically marked neuronal subsets. Collectively, these studies provide a platform for defining the contributions of functionally distinct mechanosensory neurons to oral behaviors crucial for survival in mammals.

Thin Films on the Skin, but not Frictional Agents, Attenuate the Percept of Pleasantness to Brushed Stimuli.

Brushed stimuli are perceived as pleasant when stroked lightly on the skin surface of a touch receiver at certain velocities. While the relationship between brush velocity and pleasantness has been widely replicated, we do not understand how resultant skin movements - e.g., lateral stretch, stick-slip, normal indentation - drive us to form such judgments. In a series of psychophysical experiments, this work modulates skin movements by varying stimulus stiffness and employing various treatments. The stimuli include brushes of three levels of stiffness and an ungloved human finger. The skin's friction is modulated via non-hazardous chemicals and washing protocols, and the skin's thickness and lateral movement are modulated by thin sheets of adhesive film. The stimuli are hand-brushed at controlled forces and velocities. Human participants report perceived pleasantness per trial using ratio scaling. The results indicate that a brush's stiffness influenced pleasantness more than any skin treatment. Surprisingly, varying the skin's friction did not affect pleasantness. However, the application of a thin elastic film modulated pleasantness. Such barriers, though elastic and only 40 microns thick, inhibit the skin's tangential movement and disperse normal force. The finding that thin films modulate affective interactions has implications for wearable sensors and actuation devices.

Dermal Sensory Regenerative Peripheral Nerve Interface for Reestablishing Sensory Nerve Feedback in Peripheral Afferents in the Rat.

BACKGROUND: Without meaningful, intuitive sensory feedback, even the most advanced myoelectric devices require significant cognitive demand to control. The dermal sensory regenerative peripheral nerve interface (DS-RPNI) is a biological interface designed to establish high-fidelity sensory feedback from prosthetic limbs. METHODS: DS-RPNIs were constructed in rats by securing fascicles of residual sensory peripheral nerves into autologous dermal grafts, with the objectives of confirming regeneration of sensory afferents within DS-RPNIs and establishing the reliability of afferent neural response generation with either mechanical or electrical stimulation. RESULTS: Two months after implantation, DS-RPNIs were healthy and displayed well-vascularized dermis with organized axonal collaterals throughout and no evidence of neuroma. Electrophysiologic signals were recorded proximal from DS-RPNI's sural nerve in response to both mechanical and electrical stimuli and compared with (1) full-thickness skin, (2) deepithelialized skin, and (3) transected sural nerves without DS-RPNI. Mechanical indentation of DS-RPNIs evoked compound sensory nerve action potentials (CSNAPs) that were like those evoked during indentation of full-thickness skin. CSNAP firing rates and waveform amplitudes increased in a graded fashion with increased mechanical indentation. Electrical stimuli delivered to DS-RPNIs reliably elicited CSNAPs at low current thresholds, and CSNAPs gradually increased in amplitude with increasing stimulation current. CONCLUSIONS: These findings suggest that afferent nerve fibers successfully reinnervate DS-RPNIs, and that graded stimuli applied to DS-RPNIs produce proximal sensory afferent responses similar to those evoked from normal skin. This confirmation of graded afferent signal transduction through DS-RPNI neural interfaces validate DS-RPNI's potential role of facilitating sensation in human-machine interfacing. CLINICAL RELEVANCE STATEMENT: The DS-RPNI is a novel biotic-abiotic neural interface that allows for transduction of sensory stimuli into neural signals. It is expected to advance the restoration of natural sensation and development of sensorimotor control in prosthetics.

PIEZO2-dependent rapid pain system in humans and mice.

The PIEZO2 ion channel is critical for transducing light touch into neural signals but is not considered necessary for transducing acute pain in humans. Here, we discovered an exception - a form of mechanical pain evoked by hair pulling. Based on observations in a rare group of individuals with PIEZO2 deficiency syndrome, we demonstrated that hair-pull pain is dependent on PIEZO2 transduction. Studies in control participants showed that hair-pull pain triggered a distinct nocifensive response, including a nociceptive reflex. Observations in rare Aß deafferented individuals and nerve conduction block studies in control participants revealed that hair-pull pain perception is dependent on Aß input. Single-unit axonal recordings revealed that a class of cooling-responsive myelinated nociceptors in human skin is selectively tuned to painful hair-pull stimuli. Further, we pharmacologically mapped these nociceptors to a specific transcriptomic class. Finally, using functional imaging in mice, we demonstrated that in a homologous nociceptor, Piezo2 is necessary for high-sensitivity, robust activation by hair-pull stimuli. Together, we have demonstrated that hair-pulling evokes a distinct type of pain with conserved behavioral, neural, and molecular features across humans and mice.

Force sensor in simulated skin and neural model mimic tactile SAI afferent spiking response to ramp and hold stimuli.

BACKGROUND: The next generation of prosthetic limbs will restore sensory feedback to the nervous system by mimicking how skin mechanoreceptors, innervated by afferents, produce trains of action potentials in response to compressive stimuli. Prior work has addressed building sensors within skin substitutes for robotics, modeling skin mechanics and neural dynamics of mechanotransduction, and predicting response timing of action potentials for vibration. The effort here is unique because it accounts for skin elasticity by measuring force within simulated skin, utilizes few free model parameters for parsimony, and separates parameter fitting and model validation. Additionally, the ramp-and-hold, sustained stimuli used in this work capture the essential features of the everyday task of contacting and holding an object. METHODS: This systems integration effort computationally replicates the neural firing behavior for a slowly adapting type I (SAI) afferent in its temporally varying response to both intensity and rate of indentation force by combining a physical force sensor, housed in a skin-like substrate, with a mathematical model of neuronal spiking, the leaky integrate-and-fire. Comparison experiments were then conducted using ramp-and-hold stimuli on both the spiking-sensor model and mouse SAI afferents. The model parameters were iteratively fit against recorded SAI interspike intervals (ISI) before validating the model to assess its performance. RESULTS: Model-predicted spike firing compares favorably with that observed for single SAI afferents. As indentation magnitude increases (1.2, 1.3, to 1.4 mm), mean ISI decreases from 98.81 ± 24.73, 54.52 ± 6.94, to 41.11 ± 6.11 ms. Moreover, as rate of ramp-up increases, ISI during ramp-up decreases from 21.85 ± 5.33, 19.98 ± 3.10, to 15.42 ± 2.41 ms. Considering first spikes, the predicted latencies exhibited a decreasing trend as stimulus rate increased, as is observed in afferent recordings. Finally, the SAI afferent's characteristic response of producing irregular ISIs is shown to be controllable via manipulating the output filtering from the sensor or adding stochastic noise. CONCLUSIONS: This integrated engineering approach extends prior works focused upon neural dynamics and vibration. Future efforts will perfect measures of performance, such as first spike latency and irregular ISIs, and link the generation of characteristic features within trains of action potentials with current pulse waveforms that stimulate single action potentials at the peripheral afferent.

Using Digital Image Correlation to Quantify Skin Deformation With Von Frey Monofilaments.

Thin von Frey monofilaments are a clinical tool used worldwide to assess touch deficits. One's ability to perceive touch with low-force monofilaments (0.008 - 0.07 g) establishes an absolute threshold and thereby the extent of impairment. While individual monofilaments bend at defined forces, there are no empirical measurements of the skin surface's response. In this work, we measure skin surface deformation at light-touch perceptual limits, by adopting an imaging approach using 3D digital image correlation (DIC). Generating point cloud data from three cameras surveilling the index finger pad, we reassemble and stitch together multiple 3D surfaces. Then, in response to each monofilament's indentation over time, we quantify strain across the skin surface, radial deformation emanating from the contact point, penetration depth into the surface, and area between 2D cross-sections. The results show that the monofilaments create distinct states of skin deformation, which align closely with just noticeable percepts at absolute detection and discrimination thresholds, even amidst variance between individuals and trials. In particular, the resolution of the DIC imaging approach captures sufficient differences in skin deformation at threshold, offering promise in understanding the skin's role in perception.

Subtle Contact Nuances in the Delivery of Human-to-Human Touch Distinguish Emotional Sentiment.

We routinely communicate distinct social and emotional sentiments through nuanced touch. For example, we might gently hold another's arm to offer a sense of calm, yet intensively hold another's arm to express excitement or anxiety. As this example indicates, distinct sentiments may be shaped by the subtlety in one's touch delivery. This work investigates how slight distinctions in skin-to-skin contact influence both the recognition of cued emotional messages (e.g., anger, sympathy) and the rating of emotional content (i.e., arousal, valence). By self-selecting preferred gestures (e.g., holding, stroking), touchers convey distinct messages by touching the receiver's forearm. Skin-to-skin contact attributes (e.g., velocity, depth, area) are optically tracked in high resolution. Contact is then examined within gesture, between messages. The results indicate touchers subtly, but significantly, vary contact attributes of a gesture to communicate distinct messages, which are recognizable by receivers. This tuning also correlates with receivers' arousal and valence. For instance, arousal increases with velocity for stroking, and depth for holding. Moreover, as shown here with human-to-human touch, valence is tied with velocity, which is the same trend as reported with brushes. The findings indicate that subtle nuance in skin-to-skin contact is important in conveying social messages and inducing emotions.

3D Visual Tracking to Quantify Physical Contact Interactions in Human-to-Human Touch.

Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these human-to-human interactions will require, in part, the precise measurement of skin-to-skin physical contact. Among prior efforts, each measurement approach exhibits certain constraints, e.g., motion trackers do not capture the precise shape of skin surfaces, while pressure sensors impede skin-to-skin contact. In contrast, this work develops an interference-free 3D visual tracking system using a depth camera to measure the contact attributes between the bare hand of a toucher and the forearm of a receiver. The toucher's hand is tracked as a posed and positioned mesh by fitting a hand model to detected 3D hand joints, whereas a receiver's forearm is extracted as a 3D surface updated upon repeated skin contact. Based on a contact model involving point clouds, the spatiotemporal changes of hand-to-forearm contact are decomposed as six, high-resolution, time-series contact attributes, i.e., contact area, indentation depth, absolute velocity, and three orthogonal velocity components, together with contact duration. To examine the system's capabilities and limitations, two types of experiments were performed. First, to evaluate its ability to discern human touches, one person delivered cued social messages, e.g., happiness, anger, sympathy, to another person using their preferred gestures. The results indicated that messages and gestures, as well as the identities of the touchers, were readily discerned from their contact attributes. Second, the system's spatiotemporal accuracy was validated against measurements from independent devices, including an electromagnetic motion tracker, sensorized pressure mat, and laser displacement sensor. While validated here in the context of social communication, this system is extendable to human touch interactions such as maternal care of infants and massage therapy.

Individual differences impacting skin deformation and tactile discrimination with compliant elastic surfaces.

Individual differences in tactile acuity are observed within and between age cohorts. Such differences in acuity may be attributed to various sources, including aspects of nervous system, skin mechanics, finger size, cognitive and behavioral factors, etc. This work considers individual differences, within a younger cohort of participants, in discriminating compliant surfaces. These participants exhibit a range of finger size and stiffness. Interestingly, both their finger size and stiffness well predict their discriminative performance, where softer/smaller fingers outperform stiffer/larger fingers. Stereo imaging captured biomechanical cues in the skin's deformation, including contact area and penetration depth, and their change rates. In those individuals with stiffer/larger fingers, who perceptually performed worse, we observed less distinguishable contact areas and eccentricities, compared to softer/smaller fingers. These particular cues well predicted individual differences observed in perceptual discrimination. In comparison, with two other cues, curvature and penetration depth, the imaging readily distinguished the compliant surfaces irrespective of finger stiffness/size, not aligned with discrimination. In conclusion, in passive touch, we find that individuals with softer/smaller fingers were better at discriminating compliances, and that certain skin deformation cues predict individual differences in perception.