Fingertip-Surface Interfacial Shear Stress Varies with Sliding Conditions and Electrostatic Actuation

Abstract

Fingertip friction plays a central role in tactile exploration and object manipulation. During sliding, tangential force depends jointly on the real contact area and the interfacial shear stress, both of which can be influenced by sliding conditions. However, changes in fingertip friction are often interpreted primarily through changes in real contact area, whereas the accompanying changes in interfacial shear stress remain less well characterized. This gap is especially relevant for electrostatic surface haptic displays, which modulate fingertip friction by applying a voltage between the finger and the touch surface. Here, we experimentally quantify the mean interfacial shear stress of a sliding fingertip on an electrostatically actuated touchscreen using simultaneous measurements of tangential force and optically resolved real contact area. Ten participants performed sliding trials across three speeds and three normal forces with and without electrostatic actuation. Interfacial shear stress increased with speed and decreased with normal force; in both cases, these trends arose because real contact area varied more strongly than tangential force. Electrostatic actuation further reduced interfacial shear stress, as increasing voltage produced a larger increase in real contact area than in tangential force. These findings show that interfacial shear stress varies systematically with sliding conditions and electrostatic actuation, clarifying how changes in real contact area and interfacial shear stress combine to shape fingertip-surface friction.