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Brushed stimuli are perceived as pleasant when stroked lightly on the skin surface of a touch receiver at certain velocities. While the relationship between brush velocity and pleasantness has been widely replicated, we do not understand how resultant skin movements - e.g., lateral stretch, stick-slip, normal indentation - drive us to form such judgments. In a series of psychophysical experiments, this work modulates skin movements by varying stimulus stiffness and employing various treatments. The stimuli include brushes of three levels of stiffness and an ungloved human finger. The skin's friction is modulated via non-hazardous chemicals and washing protocols, and the skin's thickness and lateral movement are modulated by thin sheets of adhesive film. The stimuli are hand-brushed at controlled forces and velocities. Human participants report perceived pleasantness per trial using ratio scaling. The results indicate that a brush's stiffness influenced pleasantness more than any skin treatment. Surprisingly, varying the skin's friction did not affect pleasantness. However, the application of a thin elastic film modulated pleasantness. Such barriers, though elastic and only 40 microns thick, inhibit the skin's tangential movement and disperse normal force. The finding that thin films modulate affective interactions has implications for wearable sensors and actuation devices.

Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these human-to-human interactions will require, in part, the precise measurement of skin-to-skin physical contact. Among prior efforts, each measurement approach exhibits certain constraints, e.g., motion trackers do not capture the precise shape of skin surfaces, while pressure sensors impede direct skin contact. In contrast, this work develops an interference-free 3D visual tracking system using a depth camera to measure the contact attributes between the bare hand of a toucher and the forearm of a receiver. The toucher's hand is tracked as a posed and positioned mesh by fitting a hand model to detected 3D joints, whereas the forearm is extracted as a detailed 3D surface. Based on a contact model of point clouds, the spatiotemporal contact changes are decomposed as six high-resolution time-series attributes, i.e., contact area, indentation depth, absolute velocity, and three orthogonal velocity components, together with contact duration. To examine the system's capabilities and limitations, two experiments were performed. First, to evaluate its ability to discern human touches, one person delivered cued social messages, e.g., happiness, anger, sympathy, to another using their preferred gestures. The results indicated that messages, gestures, and the individual touchers, were readily discerned from their contact attributes. Second, the measurement accuracy was validated against independent devices, including an electromagnetic tracker, pressure mat, and laser sensor. While validated here in the context of social communication, this system is extendable to human touch interactions such as maternal care of infants and massage therapy., Comment: Accepted by Frontiers in Physiology

We routinely communicate distinct social and emotional sentiments through nuanced touch. For example, we might gently hold another's arm to offer a sense of calm, yet intensively hold another's arm to express excitement or anxiety. As this example indicates, distinct sentiments may be shaped by the subtlety in one's touch delivery. This work investigates how slight distinctions in skin-to-skin contact influence both the recognition of cued emotional messages (e.g., anger, sympathy) and the rating of emotional content (i.e., arousal, valence). By self-selecting preferred gestures (e.g., holding, stroking), touchers convey distinct messages by touching the receiver's forearm. Skin-to-skin contact attributes (e.g., velocity, depth, area) are optically tracked in high resolution. Contact is then examined within gesture, between messages. The results indicate touchers subtly, but significantly, vary contact attributes of a gesture to communicate distinct messages, which are recognizable by receivers. This tuning also correlates with receivers' arousal and valence. For instance, arousal increases with velocity for stroking, and depth for holding. Moreover, as shown here with human-to-human touch, valence is tied with velocity, which is the same trend as reported with brushes. The findings indicate that subtle nuance in skin-to-skin contact is important in conveying social messages and inducing emotions.

In order to accelerate implementation of hyperelastic materials for finite element analysis, we developed an automatic numerical algorithm that only requires the strain energy function. This saves the effort on analytical derivation and coding of stress and tangent modulus, which is time-consuming and prone to human errors. Using the one-sided Newton difference quotients, the proposed algorithm first perturbs deformation gradients and calculate the difference on strain energy to approximate stress. Then, we perturb again to get difference in stress to approximate tangent modulus. Accuracy of the approximations were evaluated across the perturbation parameter space, where we find the optimal amount of perturbation being $10^{-6}$ to obtain stress and $10^{-4}$ to obtain tangent modulus. Single element verification in ABAQUS with Neo-Hookean material resulted in a small stress error of only $7\times10^{-5}$ on average across uniaxial compression and tension, biaxial tension and simple shear situations. A full 3D model with Holzapfel anisotropic material for artery inflation generated a small relative error of $4\times10^{-6}$ for inflated radius at $25 kPa$ pressure. Results of the verification tests suggest that the proposed numerical method has good accuracy and convergence performance, therefore a good material implementation algorithm in small scale models and a useful debugging tool for large scale models., Comment: 19 pages, 3 figures, and 2 tables. Was presented as a podium presentation at the Computer Methods in Biomechanics and Biomedical Engineering 2015, September 3rd, Montreal, Quebec, Canada