Physics-Informed Estimation of Electrostatic Attraction During Fingertip Sliding Under Varying Speed and Normal Force

Electrostatic actuation is an emerging technology for generating tactile sensations on capacitive touchscreens through voltage-induced attractive forces between a fingertip and the surface. However, accurate control of electrostatic attraction during natural touchscreen interactions remains challenging because the applied normal force and sliding speed continuously vary, and their effects on the fingertip--screen contact and resulting actuation strength are not fully characterized. Here, we show how normal force and sliding speed systematically alter fingertip--screen contact area and electrical impedance, and use these measured changes to estimate electrostatic attraction during sliding. Contact area, interaction forces, and electrical impedance were measured simultaneously as participants slid their fingertips across an electrostatic surface under systematically varied normal forces and sliding speeds. These measurements revealed condition-dependent changes in fingertip contact, electrical interaction impedance, effective capacitance, derived effective gap thickness, and electrostatic attraction. We then incorporated these measured contact quantities into a physics-informed, data-driven model based on parallel-plate capacitor theory, in which effective capacitance, apparent contact area, and effective voltage determine the estimated electrostatic attraction. The resulting model links force- and speed-dependent changes in these quantities to electrostatic attraction while accounting for inter-participant variability through a participant-specific scaling factor. These findings provide experimentally grounded guidance for designing electrostatic surface-haptic feedback and future adaptive control strategies under realistic touch conditions.