Preliminary study on the asymmetry of skin deformation between radial and ulnar side of finger pad

The stick-slip phenomenon is an important part of roughness perception in finger-surface interaction. We observed that when exploring a rough surface with finger pad, the stick-slip phenomenon is more likely to occur in ulnar direction than radial direction. In this study, a 3D measurement was performed, and showed the different skin deformation between each sides of finger pad, which may explain the direction-dependent stick-slip phenomenon.