{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,4]],"date-time":"2026-11-04T03:44:09Z","timestamp":1793763849590,"version":"4.6.1"},"reference-count":132,"publisher":"Walter de Gruyter GmbH","issue":"3-5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Multisens. Res."],"published-print":{"date-parts":[[2025,10,14]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Dexterous manipulations rely on tactile feedback from the fingertips, which provides crucial information about contact events, object geometry, interaction forces, friction, and more. Accurately measuring skin deformations during tactile interactions can shed light on the mechanics behind such feedback. To address this, we developed a novel setup using 3-D digital image correlation (DIC) to both reconstruct the bulk deformation and local surface skin deformation of the fingertip under natural loading conditions. Here, we studied the local spatiotemporal evolution of the skin surface during contact initiation. We showed that, as soon as contact occurs, the skin surface deforms very rapidly and exhibits high compliance at low forces (&lt;0.05\u00a0N). As loading and thus the contact area increases, a localized deformation front forms just ahead of the moving contact boundary. Consequently, substantial deformation extending beyond the contact interface was observed, with maximal amplitudes ranging from 5% to 10% at 5\u00a0N, close to the border of the contact. Furthermore, we found that friction influences the partial slip caused by these deformations during contact initiation, as previously suggested. Our setup provides a powerful tool to get new insights into the mechanics of touch and opens avenues for a deeper understanding of tactile afferent encoding.<\/jats:p>","DOI":"10.1163\/22134808-bja10168","type":"journal-article","created":{"date-parts":[[2025,11,10]],"date-time":"2025-11-10T10:22:23Z","timestamp":1762770143000},"page":"325-350","source":"Crossref","is-referenced-by-count":6,"title":["3-D Reconstruction of Fingertip Deformation During Contact Initiation"],"prefix":"10.1163","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-5957-8320","authenticated-orcid":true,"given":"Donatien","family":"Doumont","sequence":"first","affiliation":[{"name":"Institute of Neuroscience (IoNS), https:\/\/dx.doi.org\/83415UCLouvain, Brussels, Belgium"},{"name":"Institute of Information and Communication Technologies, Electronics and Applied Mathematics (ICTEAM), https:\/\/dx.doi.org\/83415UCLouvain, Louvain-la-Neuve, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9368-8948","authenticated-orcid":true,"given":"Anika\u00a0R.","family":"Kao","sequence":"additional","affiliation":[{"name":"Engineering and Applied Science, University of Virginia, Virginia, Charlottesville, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7571-4740","authenticated-orcid":true,"given":"Julien","family":"Lambert","sequence":"additional","affiliation":[{"name":"Institute of Neuroscience (IoNS), https:\/\/dx.doi.org\/83415UCLouvain, Brussels, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-9457-9280","authenticated-orcid":true,"given":"Fran\u00e7ois","family":"Wielant","sequence":"additional","affiliation":[{"name":"Institute of Information and Communication Technologies, Electronics and Applied Mathematics (ICTEAM), https:\/\/dx.doi.org\/83415UCLouvain, Louvain-la-Neuve, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3137-3822","authenticated-orcid":true,"given":"Gregory\u00a0J.","family":"Gerling","sequence":"additional","affiliation":[{"name":"Engineering and Applied Science, University of Virginia, Virginia, Charlottesville, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3974-7921","authenticated-orcid":true,"given":"Benoit\u00a0P.","family":"Delhaye","sequence":"additional","affiliation":[{"name":"Institute of Neuroscience (IoNS), https:\/\/dx.doi.org\/83415UCLouvain, Brussels, Belgium"},{"name":"Institute of Information and Communication Technologies, Electronics and Applied Mathematics (ICTEAM), https:\/\/dx.doi.org\/83415UCLouvain, Louvain-la-Neuve, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2032-3635","authenticated-orcid":true,"given":"Philippe","family":"Lef\u00e8vre","sequence":"additional","affiliation":[{"name":"Institute of Neuroscience (IoNS), https:\/\/dx.doi.org\/83415UCLouvain, Brussels, Belgium"},{"name":"Institute of Information and Communication Technologies, Electronics and Applied Mathematics (ICTEAM), https:\/\/dx.doi.org\/83415UCLouvain, Louvain-la-Neuve, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"374","reference":[{"key":"R000001","series-title":"J.\u00a0Neurophysiol.","first-page":"402","article-title":"Fingertip moisture is optimally modulated during object manipulation","volume":"103","author":"Andr\u00e9, T.","unstructured":"Andr\u00e9, T., Lef\u00e8vre, P. and Thonnard, J.-L. (2010). Fingertip moisture is optimally modulated during object manipulation, J.\u00a0Neurophysiol. 103, 402\u2013408. DOI:10.1152\/JN.00901.2009."},{"key":"R000002","series-title":"J.\u00a0Neurosci.","first-page":"8222","article-title":"Encoding of direction of fingertip forces by human tactile afferents","volume":"21","author":"Birznieks, I.","unstructured":"Birznieks, I., Jenmalm, P., Goodwin, A.\u00a0W. and Johansson, R.\u00a0S. (2001). Encoding of direction of fingertip forces by human tactile afferents, J.\u00a0Neurosci. 21, 8222\u20138237. DOI:10.1523\/JNEUROSCI.21-20-08222.2001."},{"key":"R000003","series-title":"J.\u00a0Physiol.","first-page":"1057","article-title":"Encoding of tangential torque in responses of tactile afferent fibres innervating the fingerpad of the monkey","volume":"588","author":"Birznieks, I.","unstructured":"Birznieks, I., Wheat, H.\u00a0E., Redmond, S.\u00a0J., Salo, L.\u00a0M., Lovell, N.\u00a0H. and Goodwin, A.\u00a0W. (2010). 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Mech. 55, 1105\u20131122. DOI:10.1007\/s11340-015-0009-1."},{"key":"R000006","series-title":"IEEE Trans. Haptics","first-page":"456","article-title":"Characterizing and imaging gross and real finger contacts under dynamic loading","volume":"10","author":"Bochereau, S.","unstructured":"Bochereau, S., Dzidek, B., Adams, M. and Hayward, V. (2017). Characterizing and imaging gross and real finger contacts under dynamic loading, IEEE Trans. Haptics 10, 456\u2013465. DOI:10.1109\/TOH.2017.2686849."},{"key":"R000007","series-title":"Wear","first-page":"324","article-title":"Influence of medical gloves on fingerpad friction and feel","volume":"376\u2013377","author":"Carr\u00e9, M.\u00a0J.","unstructured":"Carr\u00e9, M.\u00a0J., Tan, S.\u00a0K., Mylon, P.\u00a0T. and Lewis, R. (2017). Influence of medical gloves on fingerpad friction and feel, Wear 376\u2013377, 324\u2013328. 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Neurosci.","article-title":"Skin and mechanoreceptor contribution to tactile input for perception: a review of simulation models","volume":"16","author":"Deflorio, D.","unstructured":"Deflorio, D., Di Luca, M. and Wing, A.\u00a0M. (2022). Skin and mechanoreceptor contribution to tactile input for perception: a review of simulation models, Front. Hum. Neurosci. 16, 862344. DOI:10.3389\/fnhum.2022.862344."},{"key":"R000011","series-title":"J.\u00a0R. Soc. Interface","article-title":"Dynamics of fingertip contact during the onset of tangential slip","volume":"11","author":"Delhaye, B.","unstructured":"Delhaye, B., Lef\u00e8vre, P. and Thonnard, J.-L. (2014). Dynamics of fingertip contact during the onset of tangential slip, J.\u00a0R. Soc. Interface 11, 20140698. DOI:10.1098\/RSIF.2014.0698."},{"key":"R000012","series-title":"J.\u00a0R. Soc. Interface","article-title":"Surface strain measurements of fingertip skin under shearing","volume":"13","author":"Delhaye, B.","unstructured":"Delhaye, B., Barrea, A., Edin, B.\u00a0B., Lef\u00e8vre, P. and Thonnard, J.-L. (2016). Surface strain measurements of fingertip skin under shearing, J.\u00a0R. Soc. Interface 13, 20150874. DOI:10.1098\/RSIF.2015.0874."},{"key":"R000013","series-title":"J.\u00a0Neurophysiol.","first-page":"2071","article-title":"Rapid geometric feature signaling in the simulated spiking activity of a complete population of tactile nerve fibers","volume":"121","author":"Delhaye, B.\u00a0P.","unstructured":"Delhaye, B.\u00a0P., Xia, X. and Bensmaia, S.\u00a0J. (2019). Rapid geometric feature signaling in the simulated spiking activity of a complete population of tactile nerve fibers, J.\u00a0Neurophysiol. 121, 2071\u20132082. DOI:10.1152\/jn.00002.2019."},{"key":"R000014","series-title":"J.\u00a0Neurophysiol.","first-page":"1455","article-title":"Measuring fingerpad deformation during active object manipulation","volume":"126","author":"Delhaye, B.\u00a0P.","unstructured":"Delhaye, B.\u00a0P., Schiltz, F., Barrea, A., Thonnard, J.-L. and Lef\u00e8vre, P. (2021a). Measuring fingerpad deformation during active object manipulation, J.\u00a0Neurophysiol. 126, 1455\u20131464. DOI:10.1152\/jn.00358.2021."},{"key":"R000015","series-title":"Elife","article-title":"High-resolution imaging of skin deformation shows that afferents from human fingertips signal slip onset","volume":"10","author":"Delhaye, B.\u00a0P.","unstructured":"Delhaye, B.\u00a0P., Jarocka, E., Barrea, A., Thonnard, J.-L., Edin, B.\u00a0B. and Lef\u00e8vre, P. (2021b). High-resolution imaging of skin deformation shows that afferents from human fingertips signal slip onset, Elife 10, e64679. DOI:10.7554\/ELIFE.64679."},{"key":"R000016","series-title":"Granul. Matter","first-page":"209","article-title":"On the accuracy of the Hertz model to describe the normal contact of soft elastic spheres","volume":"10","author":"Dintwa, E.","unstructured":"Dintwa, E., Tijskens, E. and Ramon, H. (2008). On the accuracy of the Hertz model to describe the normal contact of soft elastic spheres, Granul. Matter 10, 209\u2013221. DOI:10.1007\/s10035-007-0078-7."},{"key":"R000017","series-title":"Soft Matter","first-page":"7699","article-title":"Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications","volume":"18","author":"Dong, X.","unstructured":"Dong, X., Luo, X., Zhao, H., Qiao, C., Li, J., Yi, J., Yang, L., Oropeza, F.\u00a0J., Hu, T.\u00a0S., Xu, Q. and Zeng, H. (2022). Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications, Soft Matter 18, 7699\u20137734. DOI:10.1039\/D2SM01067D."},{"key":"R000018","series-title":"Exp. Mech.","first-page":"1161","article-title":"A review of speckle pattern fabrication and assessment for digital image correlation","volume":"57","author":"Dong, Y.\u00a0L.","unstructured":"Dong, Y.\u00a0L. and Pan, B. (2017). A review of speckle pattern fabrication and assessment for digital image correlation, Exp. Mech. 57, 1161\u20131181. DOI:10.1007\/s11340-017-0283-1."},{"key":"R000019","series-title":"J.\u00a0R. Soc. Interface","article-title":"Biomechanics of the finger pad in response to torsion","volume":"20","author":"du Bois de\u00a0Dunilac, S.","unstructured":"du Bois de\u00a0Dunilac, S., C\u00f3rdova Bulens, D., Lef\u00e8vre, P., Redmond, S.\u00a0J. and Delhaye, B.\u00a0P. (2023). Biomechanics of the finger pad in response to torsion, J.\u00a0R. Soc. Interface 20, 20220809. DOI:10.1098\/rsif.2022.0809."},{"key":"R000020","series-title":"IEEE Trans. Haptics","first-page":"753","article-title":"Collagen induces anisotropy in fingertip subcutaneous tissues during contact","volume":"17","author":"Duprez, G.\u00a0H.\u00a0C.","unstructured":"Duprez, G.\u00a0H.\u00a0C., Delhaye, B.\u00a0P. and Delannay, L. (2024). Collagen induces anisotropy in fingertip subcutaneous tissues during contact, IEEE Trans. Haptics 17, 753\u2013760. DOI:10.1109\/TOH.2024.3406251."},{"key":"R000021","series-title":"J.\u00a0R. Soc. Interface","article-title":"Contact mechanics of the human finger pad under compressive loads","volume":"14","author":"Dzidek, B.\u00a0M.","unstructured":"Dzidek, B.\u00a0M., Adams, M.\u00a0J., Andrews, J.\u00a0W., Zhang, Z. and Johnson, S.\u00a0A. (2017). Contact mechanics of the human finger pad under compressive loads, J.\u00a0R. Soc. Interface 14, 20160935. DOI:10.1098\/RSIF.2016.0935."},{"key":"R000022","series-title":"J.\u00a0Neurophysiol.","first-page":"1105","article-title":"Quantitative analysis of static strain sensitivity in human mechanoreceptors from hairy skin","volume":"67","author":"Edin, B.\u00a0B.","unstructured":"Edin, B.\u00a0B. (1992). Quantitative analysis of static strain sensitivity in human mechanoreceptors from hairy skin, J.\u00a0Neurophysiol. 67, 1105\u20131113. DOI:10.1152\/jn.1992.67.5.1105."},{"key":"R000023","series-title":"J.\u00a0Neurophysiol.","first-page":"3233","article-title":"Quantitative analyses of dynamic strain sensitivity in human skin mechanoreceptors","volume":"92","author":"Edin, B.\u00a0B.","unstructured":"Edin, B.\u00a0B. (2004). Quantitative analyses of dynamic strain sensitivity in human skin mechanoreceptors, J.\u00a0Neurophysiol. 92, 3233\u20133243. DOI:10.1152\/jn.00628.2004."},{"key":"R000024","series-title":"Exp. Brain Res.","first-page":"451","article-title":"Development of human precision grip. I: Basic coordination of force","volume":"85","author":"Forssberg, H.","unstructured":"Forssberg, H., Eliasson, A.\u00a0C., Kinoshita, H., Johansson, R.\u00a0S. and Westling, G. (1991). Development of human precision grip. I: Basic coordination of force, Exp. Brain Res. 85, 451\u2013457. DOI:10.1007\/BF00229422."},{"key":"R000025","series-title":"Annu. Rev. Neurosci.","first-page":"53","article-title":"Sensory signals in neural populations underlying tactile perception and manipulation","volume":"27","author":"Goodwin, A.\u00a0W.","unstructured":"Goodwin, A.\u00a0W. and Wheat, H.\u00a0E. (2004). Sensory signals in neural populations underlying tactile perception and manipulation, Annu. Rev. Neurosci. 27, 53\u201377. DOI:10.1146\/annurev.neuro.26.041002.131032."},{"key":"R000026","series-title":"J.\u00a0Mech. Behav. Biomed. Mater.","first-page":"167","article-title":"An anisotropic, hyperelastic model for skin: experimental measurements, finite element modelling and identification of parameters for human and murine skin","volume":"18","author":"Groves, R.\u00a0B.","unstructured":"Groves, R.\u00a0B., Coulman, S.\u00a0A., Birchall, J.\u00a0C. and Evans, S.\u00a0L. (2013). An anisotropic, hyperelastic model for skin: experimental measurements, finite element modelling and identification of parameters for human and murine skin, J.\u00a0Mech. Behav. Biomed. Mater. 18, 167\u2013180. DOI:10.1016\/j.jmbbm.2012.10.021."},{"key":"R000027","series-title":"Dynamic Systems and Control, Volume 2","first-page":"1309","article-title":"Tactile display device using distributed lateral skin stretch","author":"Hayward, V.","unstructured":"Hayward, V. and Cruz-Hern\u00e1ndez, J.\u00a0M. (2000). Tactile display device using distributed lateral skin stretch, in: Dynamic Systems and Control, Volume 2. ASME 2000 International Mechanical Engineering Congress and Exposition, Orlando, Florida, USA, pp.\u00a01309\u20131314. DOI:10.1115\/imece2000-2448."},{"key":"R000028","series-title":"J.\u00a0R. Soc. Interface","article-title":"Spatio-temporal skin strain distributions evoke low variability spike responses in cuneate neurons","volume":"11","author":"Hayward, V.","unstructured":"Hayward, V., Terekhov, A.\u00a0V., Wong, S.-C., Geborek, P., Bengtsson, F. and J\u00f6rntell, H. (2014). Spatio-temporal skin strain distributions evoke low variability spike responses in cuneate neurons, J.\u00a0R. Soc. Interface 11, 20131015. DOI:10.1098\/rsif.2013.1015."},{"key":"R000029","series-title":"J.\u00a0Neurosci.","first-page":"3622","article-title":"Human touch receptors are sensitive to spatial details on the scale of single fingerprint ridges","volume":"41","author":"Jarocka, E.","unstructured":"Jarocka, E., Pruszynski, J.\u00a0A. and Johansson, R.\u00a0S. (2021). Human touch receptors are sensitive to spatial details on the scale of single fingerprint ridges, J.\u00a0Neurosci. 41, 3622\u20133634. DOI:10.1523\/JNEUROSCI.1716-20.2021."},{"key":"R000030","series-title":"Eur. J. Neurosci.","first-page":"164","article-title":"Influence of object shape on responses of human tactile afferents under conditions characteristic of manipulation","volume":"18","author":"Jenmalm, P.","unstructured":"Jenmalm, P., Birznieks, I., Goodwin, A.\u00a0W. and Johansson, R.\u00a0S. (2003). Influence of object shape on responses of human tactile afferents under conditions characteristic of manipulation, Eur. J. Neurosci. 18, 164\u2013176. DOI:10.1046\/j.1460-9568.2003.02721.x."},{"key":"R000031","series-title":"J.\u00a0Biomech.","first-page":"497","article-title":"Non-linear viscoelastic models predict fingertip pulp force-displacement characteristics during voluntary tapping","volume":"36","author":"Jindrich, D.\u00a0L.","unstructured":"Jindrich, D.\u00a0L., Zhou, Y., Becker, T. and Dennerlein, J.\u00a0T. (2003). Non-linear viscoelastic models predict fingertip pulp force-displacement characteristics during voluntary tapping, J.\u00a0Biomech. 36, 497\u2013503. DOI:10.1016\/S0021-9290(02)00438-4."},{"key":"R000032","series-title":"Nat. Neurosci.","first-page":"170","article-title":"First spikes in ensembles of human tactile afferents code complex spatial fingertip events","volume":"7","author":"Johansson, R.\u00a0S.","unstructured":"Johansson, R.\u00a0S. and Birznieks, I. (2004). First spikes in ensembles of human tactile afferents code complex spatial fingertip events, Nat. Neurosci. 7, 170\u2013177. DOI:10.1038\/nn1177."},{"key":"R000033","series-title":"Nat. Rev. Neurosci.","first-page":"345","article-title":"Coding and use of tactile signals from the fingertips in object manipulation tasks","volume":"10","author":"Johansson, R.\u00a0S.","unstructured":"Johansson, R.\u00a0S. and Flanagan, J.\u00a0R. (2009). Coding and use of tactile signals from the fingertips in object manipulation tasks, Nat. Rev. Neurosci. 10, 345\u2013359. DOI:10.1038\/nrn2621."},{"key":"R000034","series-title":"J.\u00a0Physiol.","first-page":"283","article-title":"Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin","volume":"286","author":"Johansson, R.\u00a0S.","unstructured":"Johansson, R.\u00a0S. and Vallbo, A.\u00a0B. (1979). Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin, J.\u00a0Physiol. 286, 283\u2013300. DOI:10.1113\/jphysiol.1979.sp012619."},{"key":"R000035","series-title":"Exp. Brain Res.","first-page":"550","article-title":"Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects","volume":"56","author":"Johansson, R.\u00a0S.","unstructured":"Johansson, R.\u00a0S. and Westling, G. (1984). Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects, Exp. Brain Res. 56, 550\u2013564. DOI:10.1007\/BF00237997."},{"key":"R000036","author":"Jones, E.\u00a0M.\u00a0C.","unstructured":"Jones, E.\u00a0M.\u00a0C. and Iadicola, M.\u00a0A. (2018). A Good Practices Guide for Digital Image Correlation, iDICs. DOI:10.32720\/idics\/gpg.ed1."},{"key":"R000037","series-title":"Neuron","first-page":"1444","article-title":"Segregation of tactile input features in neurons of the cuneate nucleus","volume":"83","author":"J\u00f6rntell, H.","unstructured":"J\u00f6rntell, H., Bengtsson, F., Geborek, P., Spanne, A., Terekhov, A.\u00a0V. and Hayward, V. (2014). Segregation of tactile input features in neurons of the cuneate nucleus, Neuron 83, 1444\u20131452. DOI:10.1016\/j.neuron.2014.07.038."},{"key":"R000038","series-title":"IEEE Trans. Haptics","first-page":"26","article-title":"Using digital image correlation to quantify skin deformation with von Frey monofilaments","volume":"15","author":"Kao, A.\u00a0R.","unstructured":"Kao, A.\u00a0R., Xu, C. and Gerling, G.\u00a0J. (2022). Using digital image correlation to quantify skin deformation with von Frey monofilaments, IEEE Trans. Haptics 15, 26\u201331. DOI:10.1109\/TOH.2021.3138350."},{"key":"R000039","series-title":"J.\u00a0Neurophysiol.","first-page":"3238","article-title":"Encoding of shape and orientation of objects indented into the monkey fingerpad by populations of slowly and rapidly adapting mechanoreceptors","volume":"79","author":"Khalsa, P.\u00a0S.","unstructured":"Khalsa, P.\u00a0S., Friedman, R.\u00a0M., Srinivasan, M.\u00a0A. and Lamotte, R.\u00a0H. (1998). Encoding of shape and orientation of objects indented into the monkey fingerpad by populations of slowly and rapidly adapting mechanoreceptors, J.\u00a0Neurophysiol. 79, 3238\u20133251. DOI:10.1152\/jn.1998.79.6.3238."},{"key":"R000040","series-title":"J.\u00a0Neurophysiol.","first-page":"474","article-title":"Decoding tactile afferent activity to obtain an estimate of instantaneous force and torque applied to the fingerpad","volume":"114","author":"Khamis, H.","unstructured":"Khamis, H., Birznieks, I. and Redmond, S.\u00a0J. (2015). 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