Measurement and Influence of the Skin Moisture in Dexterous Manipulation.

Frictional properties at the interface finger/object influence forces exerted on the object during dexterous manipulation. Furthermore, the coefficient of friction (CF) of the skin at fingertip is influenced by moisture. In this study, we propose to assess the influence of moisture at fingertip on grip force (GF) during a horizontal pointing task. We developed a specific device to measure the skin hydration (Moisture Evaluator) and we show that the changes in moisture are taken into account by the GF controller. [ABSTRACT FROM AUTHOR]