{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T19:37:34Z","timestamp":1766086654371,"version":"build-2065373602"},"reference-count":43,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2011,5,26]],"date-time":"2011-05-26T00:00:00Z","timestamp":1306368000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The influence of fingerprints and their curvature in tactile sensing performance is investigated by comparative analysis of different design parameters in a biomimetic artificial fingertip, having straight or curved fingerprints. The strength in the encoding of the principal spatial period of ridged tactile stimuli (gratings) is evaluated by indenting and sliding the surfaces at controlled normal contact force and tangential sliding velocity, as a function of fingertip rotation along the indentation axis. Curved fingerprints guaranteed higher directional isotropy than straight fingerprints in the encoding of the principal frequency resulting from the ratio between the sliding velocity and the spatial periodicity of the grating. In parallel, human microneurography experiments were performed and a selection of results is included in this work in order to support the significance of the biorobotic study with the artificial tactile system.<\/jats:p>","DOI":"10.3390\/s110605596","type":"journal-article","created":{"date-parts":[[2011,5,26]],"date-time":"2011-05-26T10:58:16Z","timestamp":1306407496000},"page":"5596-5615","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":46,"title":["Roughness Encoding in Human and Biomimetic Artificial Touch: Spatiotemporal Frequency Modulation and Structural Anisotropy of Fingerprints"],"prefix":"10.3390","volume":"11","author":[{"given":"Calogero Maria","family":"Oddo","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Polo Sant\u2019Anna Valdera, Viale Rinaldo Piaggio 34, 56025 Pontedera, PI, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lucia","family":"Beccai","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025 Pontedera, PI, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Johan","family":"Wessberg","sequence":"additional","affiliation":[{"name":"Department of Physiology, University of Gothenburg, Medicinaregatan 11, SE-40530 Goteborg, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Helena Backlund","family":"Wasling","sequence":"additional","affiliation":[{"name":"Department of Physiology, University of Gothenburg, Medicinaregatan 11, SE-40530 Goteborg, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabio","family":"Mattioli","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025 Pontedera, PI, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maria Chiara","family":"Carrozza","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Polo Sant\u2019Anna Valdera, Viale Rinaldo Piaggio 34, 56025 Pontedera, PI, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2011,5,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1109\/TRO.2008.918929","article-title":"Guest editorial special issue on biorobotics","volume":"24","author":"Dario","year":"2008","journal-title":"IEEE Trans. Robot"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1262","DOI":"10.1152\/japplphysiol.00470.2003","article-title":"Microneurography: How the technique developed and its role in the investigation of the sympathetic nervous system","volume":"96","author":"Vallbo","year":"2004","journal-title":"J. Appl. Physiol"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"697","DOI":"10.3758\/BF03211795","article-title":"Perceptual dimensions of tactile surface texture: A multidimensional scaling analysis","volume":"54","author":"Hollins","year":"1993","journal-title":"Percept. Psychophys"},{"key":"ref_4","unstructured":"Nelson, RJ (2001). The Somatosensory System: Deciphering the Brain\u2019s Own Body Image, CRC Press LLC."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/BF00238588","article-title":"Tactile discrimination of gratings","volume":"49","author":"Morley","year":"1983","journal-title":"Exp. Brain Res"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Jones, LA, and Lederman, SJ (2006). Human Hand Function, Oxford University Press.","DOI":"10.1093\/acprof:oso\/9780195173154.001.0001"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1113\/jphysiol.1979.sp012619","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","year":"1979","journal-title":"J. Physiol. (Lond.)"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"15756","DOI":"10.1523\/JNEUROSCI.3684-09.2009","article-title":"Diminutive digits discern delicate details: Fingertip size and the sex difference in tactile spatial acuity","volume":"29","author":"Peters","year":"2009","journal-title":"J. Neurosci"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"842","DOI":"10.3758\/BF03193537","article-title":"Pacinian representations of fine surface texture","volume":"67","author":"Hollins","year":"2005","journal-title":"Percept. Psychophys"},{"key":"ref_10","unstructured":"De Boissieu, F, Godin, C, Guilhamat, B, David, D, Serviere, C, and Baudois, D (July, January 28). Tactile texture recognition with a 3-axial force MEMS integrated artificial finger. Seattle, WA, USA."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1430","DOI":"10.1152\/jn.2000.84.3.1430","article-title":"Tactile discrimination of gaps by slowly adapting afferents: Effects of population parameters and anisotropy in the fingerpad","volume":"84","author":"Wheat","year":"2000","journal-title":"J. Neurophysiol"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"3161","DOI":"10.3390\/s90503161","article-title":"Artificial roughness encoding with a bio-inspired MEMS based tactile sensor array","volume":"9","author":"Oddo","year":"2009","journal-title":"Sensors"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1080\/0899022031000083825","article-title":"The vibrations of texture","volume":"20","author":"Hollins","year":"2003","journal-title":"Somatosens. Mot. Res"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Muhammad, HB, Recchiuto, C, Oddo, CM, Beccai, L, Anthony, CJ, Adams, MJ, Carrozza, MC, and Ward, MCL (2011). A capacitive tactile sensor array for surface texture discrimination. Microelectron Eng, in press.","DOI":"10.1016\/j.mee.2011.01.045"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1088\/1748-3182\/3\/3\/035002","article-title":"Extracting textural features from tactile sensors","volume":"3","author":"Edwards","year":"2008","journal-title":"Bioinspir. Biomim"},{"key":"ref_16","unstructured":"Konyo, M, Maeno, T, Yoshida, A, and Tadokoro, S (2005, January 18\u201320). Roughness sense display representing temporal frequency changes of tactile information in response to hand movements. Pisa, Italy."},{"key":"ref_17","unstructured":"Mukaibo, Y, Shirado, H, Konyo, M, and Maeno, T (2005, January 18\u201322). Development of a texture sensor emulating the tissue structure and perceptual mechanism of human fingers. Barcelona, Spain."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"L1019","DOI":"10.1143\/JJAP.45.L1019","article-title":"Biomimetic tactile sensors with fingerprint-type surface made of carbon microcoils\/polysilicone","volume":"45","author":"Chen","year":"2006","journal-title":"Jpn. J. Appl. Phys"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Zhang, Y, Mukaibo, Y, and Maeno, T (2006, January 17\u201320). A multi-purpose tactile sensor inspired by human finger for texture and tissue stiffness detection. Kunming, China.","DOI":"10.1109\/ROBIO.2006.340351"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1503","DOI":"10.1126\/science.1166467","article-title":"The role of fingerprints in the coding of tactile information probed with a biomimetic sensor","volume":"323","author":"Scheibert","year":"2009","journal-title":"Science"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"245","DOI":"10.1016\/j.sna.2006.01.009","article-title":"Effects of the elastic cover on tactile sensor arrays","volume":"132","year":"2006","journal-title":"Sens. Actuat. A"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Oddo, CM, Beccai, L, Muscolo, GG, and Carrozza, MC (2009, January 19\u201323). A biomimetic mems-based tactile sensor array with fingerprints integrated in a robotic fingertip for artificial roughness encoding. Guilin, China.","DOI":"10.1109\/ROBIO.2009.5420491"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"370","DOI":"10.1016\/j.sna.2005.01.007","article-title":"Design and fabrication of a hybrid silicon three-axial force sensor for biomechanical applications","volume":"120","author":"Beccai","year":"2005","journal-title":"Sens. Actuat. A"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1007\/s00422-006-0124-2","article-title":"Design of a cybernetic hand for perception and action","volume":"95","author":"Carrozza","year":"2006","journal-title":"Biol. Cybern"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Controzzi, M, Cipriani, C, and Carrozza, MC (2008, January 22\u201326). Mechatronic design of a transradial cybernetic hand. Nice, France.","DOI":"10.1109\/IROS.2008.4650987"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"94","DOI":"10.1299\/jsmec.41.94","article-title":"Relationship between structure of finger tissue and location of tactile receptors","volume":"41","author":"Maeno","year":"1998","journal-title":"JSME Int. J"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"140","DOI":"10.20965\/jrm.2002.p0140","article-title":"Artificial finger skin having ridges and distributed tactile sensors used for grasp force control","volume":"14","author":"Yamada","year":"2002","journal-title":"J. Robot. Mechatron"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Hidaka, Y, Shiokawa, Y, Tashiro, K, Maeno, T, Konyo, M, and Yamauchi, T (2009, January 25\u201328). Development of an elastic tactile sensor emulating human fingers for tele-presentation systems. Christchurch, New Zealand.","DOI":"10.1109\/ICSENS.2009.5398363"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1016\/j.robot.2005.09.019","article-title":"Anthropomorphic robotic soft fingertip with randomly distributed receptors","volume":"54","author":"Hosoda","year":"2006","journal-title":"Robot. Autonom. Syst"},{"key":"ref_30","first-page":"3","article-title":"Properties of cutaneous mechanoreceptors in the human hand related to touch sensation","volume":"3","author":"Vallbo","year":"1984","journal-title":"Hum. Neurobiol"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1113\/expphysiol.1972.sp002177","article-title":"The structure and function of the slowly adapting type II mechanoreceptor in hairy skin","volume":"57","author":"Chambers","year":"1972","journal-title":"Q. J. Exp. Physiol"},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Oddo, CM, Beccai, L, Vitiello, N, Backlund Wasling, H, Wessberg, J, and Carrozza, MC (2011). A mechatronic platform for human touch studies. Mechatronics, in press.","DOI":"10.1016\/j.mechatronics.2011.02.012"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1619","DOI":"10.1152\/jn.1997.78.3.1619","article-title":"Tangential torque effects on the control of grip forces when holding objects with precision grip","volume":"78","author":"Kinoshita","year":"1997","journal-title":"J. Neurophys"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1016\/j.triboint.2009.05.016","article-title":"Investigation of vibrotactile sensation of human fingerpads by observation of contact zones","volume":"43","author":"Soneda","year":"2010","journal-title":"Tribol. Intl"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"498","DOI":"10.1037\/h0080750","article-title":"Tactual roughness perception: Spatial and temporal determinants","volume":"37","author":"Lederman","year":"1983","journal-title":"Can. J. Psychol"},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Oddo, CM, Controzzi, M, Beccai, L, Cipriani, C, and Carrozza, MC (2011). Roughness encoding for discrimination of surfaces in artificial active touch. IEEE Trans Robot, in press.","DOI":"10.1109\/TRO.2011.2116930"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1016\/S0165-0270(98)00061-2","article-title":"Identification of patterns of neuronal connectivity\u2014partial spectra, partial coherence, and neuronal interactions","volume":"83","author":"Rosenberg","year":"1998","journal-title":"J. Neurosci. Meth"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1113\/jphysiol.1980.sp013498","article-title":"Peripheral neural representation of the spatial frequency of a grating moving across the monkey\u2019s finger pad","volume":"309","author":"Oke","year":"1980","journal-title":"J. Physiol. (Lond.)"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"623","DOI":"10.1088\/0957-0233\/18\/3\/011","article-title":"Investigation on calibration methods for multi-axis, linear and redundant force sensors","volume":"18","author":"Oddo","year":"2007","journal-title":"Meas. Sci. Technol"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1771","DOI":"10.1152\/jn.00877.2005","article-title":"SA1 and RA Afferent responses to static and vibrating gratings","volume":"95","author":"Craig","year":"2006","journal-title":"J. Neurophysiol"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1007\/s002210000348","article-title":"Relative effects of the spatial and temporal characteristics of scanned surfaces on human perception of tactile roughness using passive touch","volume":"132","author":"Meftah","year":"2000","journal-title":"Exp. Brain Res"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"170","DOI":"10.1038\/nn1177","article-title":"First spikes in ensembles of human tactile afferents code complex spatial fingertip events","volume":"7","author":"Johansson","year":"2004","journal-title":"Nat. Neurosci"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1038\/nrn2621","article-title":"Coding and use of tactile signals from the fingertips in object manipulation tasks","volume":"10","author":"Johansson","year":"2009","journal-title":"Nat. Rev. Neurosci"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/6\/5596\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:56:13Z","timestamp":1760219773000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/6\/5596"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,5,26]]},"references-count":43,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2011,6]]}},"alternative-id":["s110605596"],"URL":"https:\/\/doi.org\/10.3390\/s110605596","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2011,5,26]]}}}