In this study, the soft deformable fingertips with the same spring stiffness was fabricated on the basis of the spring stiffness calculated from the beam model of the soft deformable fingertip, and we confirmed that if the spring stiffness was the same, the resistible force tended to be the same. In order to verify the relationship with the change in the contact area, the rate of decrease of the contact area to reach the resistible force was defined and the relationship with the resistible force was compared for each stiffness of the finger material and cross-sectional area.
