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Tactile afferents encode grip safety before slip for different frictions

Adjustments to frictional forces are crucial to maintain a safe grip during precision object handling in both humans and robotic manipulators. The aim of this work was to investigate whether a population of human tactile afferents can provide information about the current tangential/normal force ratio expressed as the percentage of the critical load capacity - the tangential/normal force ratio at which the object would slip. A smooth stimulation surface was tested on the fingertip under three frictional conditions, with a 4 N normal force and a tangential force generated by motion in the ulnar or distal direction at a fixed speed. During stimulation, the responses of 29 afferents (12 SA-I, 2 SA-II, 12 FA-I, 3 FA-II) were recorded. A multiple regression model was trained and tested using cross-validation to estimate the percentage of the critical load capacity in real-time as the tangential force increased. The features for the model were the number of spikes from each afferent in windows of fixed length (50, 100 or 200 ms) around points spanning the range from 50% to 100% of the critical load capacity, in 5% increments. The mean regression estimate error was less than 1% of the critical load capacity with a standard deviation between 5% and 10%. A larger number of afferents is expected to improve the estimate error. This work is important for understanding human dexterous manipulation and inspiring improvements in robotic grippers and prostheses.