B.Sc. Maja Fehlberg

Friction was studied for the human finger pad during the spreading of viscous liquid samples in circular motion on a solid substrate. The samples included both Newtonian and shear-thinning liquids with a range of viscosity between 0.83 mPa s and 150 Pa s. During active touch, participants applied varying normal forces and sliding speeds depending on the sample and individual behavior. Friction coefficients vary greatly between participants, but fall on one Stribeck curve when shear-thinning effects were accounted for full-film lubrication. A comparison with the measured height variations during spreading demonstrates that the logarithm of the Hersey number is an instantaneous indicator of the film thickness in the full-film lubrication regime. Comparison of the measured friction coefficients with reported values of the perceived slipperiness for the same samples shows a close correspondence along the Stribeck curve.

Friction between fingertip and surface is a key contribution to tactile perception during active exploration of materials. We explore the role of skin factors such as stratum corneum thickness and hydration, deformability, elasticity, or density of sweat glands and of Meissner corpuscles in friction and tactile perception. The skin parameters were determined non-invasively for the glabrous skin at the index finger pad of 60 participants. Sets of randomly rough plastic surfaces and of micro-structured fibrillar rubber surfaces were explored as model materials with well-defined parameterized textures. Friction varies greatly between participants, and this variation can be explained to 70% by skin factors for the randomly rough plastic surfaces. The predictability of friction by skin factors is much lower for micro-structured rubber surfaces with bendable fibrils, where 50% of variance is explained for the stiffest fibrils but only 20% for the most bendable fibrils. The participants’ age is the key predictor for their tactile sensitivity to perceive the fibrils, where age is negatively correlated to the density of Meissner corpuscles. The results suggest that stratum corneum hydration, skin deformability, and age are important factors for friction and perception in active tactile exploration of materials.

Replica molding is a widely used technique for the fabrication of polymer microstructures. As structural dimensions decrease, anti-stick surface treatment of the mold becomes increasingly critical to ensure clean demolding and preserve structural integrity. We fabricated arrays of micropillars with 20 µm diameter and 60 µm height using medical-grade polydimethylsiloxane (PDMS), MDX4-4210, and observed a high fraction of collapsed pillars for the first molding after fluorosilanization of the mold to reduce sticking. To address this issue, we systematically investigated the surface treatment protocol for the molds, made from the PDMS Sylgard 184. We provide results from complementary measurement methods, to show that an additional vacuum step partially removes unbound fluorosilane, but does not improve pillar stability. In contrast, a method based on multiple replications, where the first replication effectively removes residual fluorosilane from the mold, significantly enhances structural stability. Mechanical testing further revealed that the presence of fluorosilane lowers the Young’s modulus of both PDMS materials, MDX4-4210 and Sylgard 184, suggesting interference with the curing process. Confocal Brillouin microscopy indicated an elongation of replicated pillars and revealed a softening close to the surfaces, as well as mechanical inhomogeneities in collapsed pillars. We discuss modifications to the molding protocol to improve the reproducibility and mechanical stability of the replicated microstructures, offering insights towards more reliable routes for the fabrication of residue-free, high-aspect ratio features with controlled surface chemistry.

There is a growing scientific interest in material unpleasantness, yet the role of distinct physical parameters in perceptual and affective haptic experiences with liquids remains to be fully understood. To address this, we investigated how perceptual qualities of liquids relate to measurable physical properties and unpleasantness during active touch. We prepared 15 custom liquid samples using everyday materials. Rheological measurements showed that samples varied between physical viscosity 1mPA s and 45 Pa s ⁠. Participants explored each sample using circular rubbing motions with their index fingers. A camera system tracked finger movements, and a force sensor revealed applied normal forces, pull-off force (PoF) and the coefficient of friction (CoF). We compared these physical properties with the perceptual dimensions from our earlier work: perceived viscosity and slipperiness. Perceived viscosity correlated strongly with both physical viscosity and PoF, but not with CoF. Conversely, perceived slipperiness was associated with CoF, but not PoF or physical viscosity, demonstrating distinct links between physics and perception of liquids. Interestingly, PoF but not CoF was significantly linked to unpleasantness, suggesting that PoF but not CoF is crucial for liquid unpleasantness. These findings advance our understanding of how distinct physical properties relate to perceptual and affective experiences of liquids.

Fingertip friction is a key component of tactile perception. In active tactile exploration, friction forces depend on the applied normal force and on the sliding speed chosen. We have investigated whether humans perceive the speed dependence of friction for textured surfaces of materials, which show either increase or decrease of the friction coefficient with speed. Participants perceived the decrease or increase when the relative difference in friction coefficient between fast and slow sliding speed was more than 20 %. The fraction of comparison judgments which were in agreement with the measured difference in friction coefficient did not depend on variations in the applied normal force. The results indicate a perceptual constancy for fingertip friction with respect to self-generated variations of sliding speed and applied normal force.