Many aspects of both grip function and tactile perception depend on complex frictional interactions occurring in the contact zone of the finger pad, which is the subject of the current review. While it is well established that friction plays a crucial role in grip function, its exact contribution for discriminatory touch involving the sliding of a finger pad is more elusive. For texture discrimination, it is clear that vibrotaction plays an important role in the discriminatory mechanisms. Among other factors, friction impacts the nature of the vibrations generated by the relative movement of the fingertip skin against a probed object. Friction also has a major influence on the perceived tactile pleasantness of a surface. The contact mechanics of a finger pad is governed by the fingerprint ridges and the sweat that is exuded from pores located on these ridges. Counterintuitively, the coefficient of friction can increase by an order of magnitude in a period of tens of seconds when in contact with an impermeably smooth surface, such as glass. In contrast, the value will decrease for a porous surface, such as paper. The increase in friction is attributed to an occlusion mechanism and can be described by first-order kinetics. Surprisingly, the sensitivity of the coefficient of friction to the normal load and sliding velocity is comparatively of second order, yet these dependencies provide the main basis of theoretical models which, to-date, largely ignore the time evolution of the frictional dynamics. One well-known effect on taction is the possibility of inducing stick–slip if the friction decreases with increasing sliding velocity. Moreover, the initial slip of a finger pad occurs by the propagation of an annulus of failure from the perimeter of the contact zone and this phenomenon could be important in tactile perception and grip function.

The coefficient of friction of most solid objects is independent of the applied normal force because of surface roughness. This behaviour is observed for a finger pad except at long contact times (greater than 10 s) against smooth impermeable surfaces such as glass when the coefficient increases with decreasing normal force by about a factor of five for the load range investigated here. This is clearly an advantage for some precision manipulation and grip tasks. Such normal force dependence is characteristic of smooth curved elastic bodies. It has been argued that the occlusion of moisture in the form of sweat plasticises the surface topographical features and their increased compliance allows flattening under an applied normal force, so that the surfaces of the fingerprint ridges are effectively smooth. While the normal force dependence of the friction is consistent with the theory of elastic frictional contacts, the gross deformation behaviour is not and, for commonly reported values of the Young's modulus of stratum corneum , the deformation of the ridges should be negligible compared with the gross deformation of the finger pad even when fully occluded. This paper describes the development of a contact mechanics model that resolves these inconsistencies and is validated against experimental data.

Significance: Why does gripping a pen, tool, or handle feel more secure when it is coated with a rubbery material? The keratin of the skin outer layer is stiff and rough at a small scale. When encountering a smooth, stiff, and impermeable surface, such as polished metal or glass, the actual contact area is initially small as is the friction. Because the keratin softens when it is hydrated by the moisture secreted from the sweat pores, it requires many seconds for the contact area to increase to the value reached almost instantaneously with a soft material, such as a rubber. This mechanism might be used by our tactile sense to identify materials and has implications for the design of tactile displays.

Significance: Why have primates evolved epidermal ridges on the volar regions of the hands and feet and with a much greater density of sweat glands than flat skin, which respond to anxiety rather than act as a thermoregulation mechanism? During contact with solid objects, the ridges are important for grip and precision manipulation by regulating moisture levels from either external sources or the sweat pores so that the friction is maximized and catastrophic slip is inhibited. An understanding of the underlying mechanisms involved has become particularly important with the almost ubiquitous contact of the finger pads with flat screens and recent developments in haptic feedback using ultrasonic vibrations for which the performance is critically related to the friction.