ABSTRACT
The effects of the surface friction of a grasped object on the regulation of grip force during holding tasks using a precision grip were investigated. Using a force transducer-equipped grip apparatus, the grip force and load force acting on the object were measured continuously while surface materials (silk, wood, suede and sandpaper) and load weights (0.98N, 1.96N, 2.94N, 4.90N and 9.81N) were varied. From the recorded data, the average static grip force, slip force, safety margin force and static friction coefficient were evaluated.<BR>It was found that both the slip force and safety margin force increased as the slipperiness of the object surface increased. Significant interactions between surface type and weight were observed in the slip force and static friction coefficient. The interaction effect resulted from the fact that the frictional relationships with the fingers changed according to both weight and surface conditions. This was considered due to the viscoelastic nature of finger skin. An increase in the safety margin force with surface slipperiness was considered due to psychological reaction, probably fear of dropping the object. Unexpected changes in surface conditions caused a greater safety margin force than trials without a surface change, which might also have been associated with psychological reaction to uncertainty of the new surface condition. A relatively large inter-subject variation was found in the slip force and safety margin force relative to slippery surfaces.