Figure 1 | Scientific Reports

Figure 1

From: Efficient tactile encoding of object slippage

Figure 1

(A) Normal and tangential components of the force during grasping. To avoid slippage, the nervous system regulates the grasping force \(f_n\) to keep the frictional strength \(f_t = \mu \,f_n\) at a safety margin from the load force applied by the object. (B) Typical evolution of the interaction force, area of contact, and skin deformation during the transition from stick to slip. (C) Steps of perceptual computation from a strain field that is influenced by the frictional interaction to an estimate of the safety margin which is independent of friction.

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