{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,27]],"date-time":"2026-08-27T23:59:55Z","timestamp":1787875195817,"version":"build-2784847793"},"reference-count":18,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2017,5,23]],"date-time":"2017-05-23T00:00:00Z","timestamp":1495497600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, the authors present a new methodology to study the viscoelastic behaviour of the human finger. The methodology is based on experimental research consisting of a finger\u2019s indentation with a small steel cylindrical object for various indentation speeds. The tests were realized on a CETR UMT-2 Tribometer for indentation speed between 0.02 mm\/s and 4 mm\/s with a normal load of up to 22 N. Using the force\u2013deformation diagrams recorded at the smallest indentation speed determined the elastic modulus of the human finger according to an adapted Hertzian model. By considering the increasing of the indentation force with indentation speed, the viscous component of the human finger was evidenced. The power dissipated in the finger tissue as a result of the prehension process has been obtained as a function of indentation speed and indentation depth. In addition, a general equation for the prehension force as a function of indentation speed and indentation depth has been obtained. The results of this study will be relevant for selection of the specific elastomers used in biomimetic hands.<\/jats:p>","DOI":"10.3390\/s17061190","type":"journal-article","created":{"date-parts":[[2017,5,23]],"date-time":"2017-05-23T11:14:33Z","timestamp":1495538073000},"page":"1190","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Sensors and Actuators on Determining Parameters for Being Considered in Selection of Elastomers for Biomimetic Hands"],"prefix":"10.3390","volume":"17","author":[{"given":"Vlad","family":"C\u00e2rlescu","sequence":"first","affiliation":[{"name":"Department Mechanical Engineering, Mechatronics and Robotics, the \u201cGheorghe Asachi\u201d Technical University of Iasi, Bulevardul Profesor Dimitrie Mangeron 67, 700050 Ia\u0219i, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dumitru","family":"Olaru","sequence":"additional","affiliation":[{"name":"Department Mechanical Engineering, Mechatronics and Robotics, the \u201cGheorghe Asachi\u201d Technical University of Iasi, Bulevardul Profesor Dimitrie Mangeron 67, 700050 Ia\u0219i, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gheorghe","family":"Pris\u0103caru","sequence":"additional","affiliation":[{"name":"Department Mechanical Engineering, Mechatronics and Robotics, the \u201cGheorghe Asachi\u201d Technical University of Iasi, Bulevardul Profesor Dimitrie Mangeron 67, 700050 Ia\u0219i, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cezar","family":"Opri\u015fan","sequence":"additional","affiliation":[{"name":"Department Mechanical Engineering, Mechatronics and Robotics, the \u201cGheorghe Asachi\u201d Technical University of Iasi, Bulevardul Profesor Dimitrie Mangeron 67, 700050 Ia\u0219i, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4917-2474","authenticated-orcid":false,"given":"Jos\u00e9","family":"Machado","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, MEtRICs Research Center, University of Minho, Campus of Azur\u00e9m, 4800-058 Guimar\u00e3es, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1155\/2014\/864573","article-title":"Bioinspired fingertip for anthropomorphic robotic hands","volume":"11","author":"Controzzi","year":"2014","journal-title":"Appl. Bionics Biomech."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1264","DOI":"10.1016\/j.wear.2008.12.030","article-title":"Friction and deformation behaviour of human skin","volume":"267","author":"Kwiatkowska","year":"2009","journal-title":"Wear"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1565","DOI":"10.1016\/j.triboint.2008.11.009","article-title":"Friction of human skin against smooth and rough glass as a function of the contact pressure","volume":"42","author":"Derler","year":"2009","journal-title":"Tribol. Int."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"324","DOI":"10.1016\/j.wear.2012.11.030","article-title":"Stick\u2013slip phenomena in the friction of human skin","volume":"301","author":"Derler","year":"2013","journal-title":"Wear"},{"key":"ref_5","unstructured":"Tomlinson, S.E. (2009). Understanding the Friction between Human Fingers and Contacting Surfaces. 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