Gentle Contact Research Articles

On your terms or mine: pigs’ response to imposed gentle tactile contact vs. free form interaction with a familiar human

AbstractPositive human–animal interactions (HAIs) can be intrinsically rewarding and facilitate positive human–animal relationships. However, HAI paradigms vary across studies, and the influence of different interaction paradigms on the animal’s response has been overlooked. We compared the behavioural responses of pigs (n = 28) individually tested with two types of gentle tactile interactions with a familiar human: ‘free form (FF)’ where the pig could voluntarily approach and interact as they normally would, and ‘imposed contact (IC)’ where the human imposed tactile contact on the pig according to a standardised protocol. Pigs did not differ in their level of engagement with the human between the two types of interactions. However, they differed in their behaviour as they explored the pen more during the FF test, while they emitted more low-pitched vocalisations (grunts) during the IC test. These differences can likely be imputed to the IC test differing to the pigs’ habituation to human contact, which could have evoked greater attention to the human or triggered frustration due to violation of expectation. These findings highlight the influence of the predictability of the interaction or level of agency provided to the animal in HAI tests and relation to their previous experience of interacting.

Precision-induced localized molten liquid metal stamps for damage-free transfer printing of ultrathin membranes and 3D objects

Transfer printing, a crucial technique for heterogeneous integration, has gained attention for enabling unconventional layouts and high-performance electronic systems. Elastomer stamps are typically used for transfer printing, where localized heating for elastomer stamp can effectively control the transfer process. A key challenge is the potential damage to ultrathin membranes from the contact force of elastic stamps, especially with fragile inorganic nanomembranes. Herein, we present a precision-induced localized molten technique that employs either laser-induced transient heating or hotplate-induced directional heating to precisely melt solid gallium (Ga). By leveraging the fluidity of localized molten Ga, which provides gentle contact force and exceptional conformal adaptability, this technique avoids damage to fragile thin films and improves operational reliability compared to fully liquefied Ga stamps. Furthermore, the phase transition of Ga provides a reversible adhesion with high adhesion switchability. Once solidified, the Ga stamp hardens and securely adheres to the micro/nano-membrane during the pick-up process. The solidified stamp also exhibits the capability to maneuver arbitrarily shaped objects by generating a substantial grip force through the interlocking effects. Such a robust, damage-free, simply operable protocol illustrates its promising capabilities in transfer printing diverse ultrathin membranes and objects on complex surfaces for developing high-performance unconventional electronics.

The Role of Play in the Social Development of Grey Seal (Halichoerus grypus) Pups with Comparative Notes on the Harbour Seal (Phoca vitulina).

Juvenile grey seals are known to be highly social, interacting with contact behaviours interpreted as gentle play. However, minimal sociality of pups with their mothers and among weaned pups has been suggested. The present study aimed to observe the natural social interactions of pups to track the early ontogeny of their sociality. Pup behaviour at a salt marsh colony on the east coast of England was video-recorded. Pups interacted with their mothers around suckling bouts and after weaning as they gathered around pools. The records were transcribed to spreadsheets in 30 s time segments to estimate the frequency and co-occurrence of different behaviours. Mother-pup interaction comprised nosing contacts and sometimes contact play, involving one laying the head and fore-flipper over the other. Initial weaned pup encounters involved tentative nosing and defensive splashing, indicating contact shyness. However, socially orientated locomotor play, supine posturing, and exaggerated raising of fore- and hind-flippers led to reduced shyness and pups following one another towards the sea. Archive data on subadult interactions and on harbour seal behaviours were re-analysed. Gentle play-like contact between mother-pup, juvenile, and adult pairs is interpreted here as a universal mode of social bonding, underscoring the social structure of both grey and harbour seals.

Non‐Contact Transfer Printing Enabled by an Ultrasonic Droplet Stamp

AbstractTransfer printing is an important material heterogeneous technique with unique capability for developing existing and envisioned electronic or optoelectronic systems. Here, a simple design of ultrasonic droplet stamp is reported featuring a water droplet on an acoustic resonator attached to a glass sheet, for developing an efficient non‐contact transfer printing. The water droplet offers the benefits of a gentle and conformal contact, yielding an enough adhesion for a reliable pickup in the absence of ultrasound, and ejects a sub‐droplet rapidly due to the Raleigh instability with the ultrasound for an easy non‐contact printing. Experimental studies are carried out to investigate the transient response of ultrasonic droplet stamp under the action of ultrasound and showed that the proposed stamp exhibited extraordinary capabilities of damage‐free pickup and receiver‐independent printing. Demonstrations of the ultrasonic droplet stamp in transfer printing of thin inks with different materials and shapes onto various flat, curved and rough surfaces illustrate its great potential for heterogeneous integration and deterministic assembly.

Tunable and Reversible Adhesive of Liquid Metal Ferrofluid Pillars for Magnetically Actuated Noncontact Transfer Printing.

Transfer printing techniques based on tunable and reversible adhesives enable the heterogeneous integration of materials in desired layouts and are essential for developing both existing and envisioned electronic systems. Here, a novel tunable and reversible adhesive of liquid metal ferrofluid pillars for developing an efficient magnetically actuated noncontact transfer printing is reported. The liquid metal ferrofluid pillars offer the appealing advantages of gentle contact force by minimizing the preload effect and exceptional shape adaptability by maximizing the interfacial contact area due to their inherent fluidity, thus enabling a reliable damage-free pickup. Moreover, the liquid metal ferrofluid pillars harness the rapid stiffness increase and shape change with the magnetic field, generating an instantaneous ejection force to achieve a receiver-independent noncontact printing. Demonstrations of the adhesive of liquid metal ferrofluid pillars in transfer printing of diverse objects with different shapes, materials and dimensions onto various substrates illustrate its great potential in deterministic assembly.

The Forces Associated with Bolus Injection and Continuous Infusion Techniques during Ultrasound-Targeted Nerve Contact: An Ex Vivo Study

Ultrasound-guided regional anaesthesia with real-time visualization of anatomical structures and needle trajectory has become the standard method for accurately achieving nerve block procedures. Nevertheless, ultrasound is particularly limited in accurately detecting the needle tip in tissues with complex echogenicity. Fat-filled circumneural fascial tissue provides a barrier to local anaesthetic diffusion. Injection during gentle needle nerve contact is more likely to spread under the circumneurium (halo sign). On the other hand, excessive force may cause hematoma or activate the piezo ion channels and intraneural calcium release. Therefore, it is vital to understand the mechanics of needle–tissue interaction for optimizing the procedural outcomes and patients’ safety. We hypothesised that continuous fluid infusion would reduce the needle force applied on the nerve compared to that of bolus injection. Thus, the primary objective of this study was to compare the forces associated with the bolus injection and continuous infusion techniques on the sciatic nerves of fresh lamb legs ex vivo. A needle combining pressure and force was inserted into six legs of lambs ex vivo using a motor stage at a constant velocity and imaged with a linear transducer. Saline injections were block randomised to bolus injection or infusion in the muscle upon gently touching and indenting of the epineurium at nine sites on six sciatic nerves at three angles (30°, 45° and 60°) in each location. The bolus was delivered over 6 s and infused for over 60 s. The result showed less force was generated during the infusion technique when gently touching the epineurium than that of the bolus technique, with p = 0.004, with significant differences observed at a 60° angle (0.49 N, p = 0.001). The injection pressure was also lower when light epineurium touches were applied (9.6 kPa, p = 0.02) and at 60° (8.9 kPa). The time to peak pressure varied across the insertion angles (p < 0.001), with the shortest time at 60° (6.53 s). This study explores future applications by emphasizing the significance of understanding needle–tissue interaction mechanics. This understanding is crucial for optimizing the procedural outcomes and enhancing patients’ safety in ultrasound-guided regional anaesthesia administration. Specifically, continuous infusion demonstrated a notable reduction in needle force compared to that of the bolus injection, especially during gentle epineurium contact.

New data on the geological structure and zonality of the Vorontsovka gold field in the Northern Urals

Spatial distribution of gold, copper, and iron ore deposits in the Northern Urals with the largest Turya-Auerbakh ore region is controlled by north-west trending linear zones of a probably fault nature. The influence has been demonstrated of regional factors (including the tectonic, magmatic, and geochemical ones) favoring formation of the large Au-As-Sb-Hg-Tl Vorontsovka deposit located within a volcanogenicsedimentary, substantially carbonate rock sequence. Closely spaced swarms of Devonian pre-ore and Carboniferous post-ore mafic dykes have been identified within the deposit. The primary geochemical halos of the Vorontsovka deposit have a multielement composition and, coupled with the ores, form a thick ore-halo zone confined to the gentle tectonic contact of sandstone-siltstone and limestone units. The main halo-forming elements are zonally distributed in the section. The footwall side of the gold deposit (rear zone) is dominated by Zn, Cd, Cu, Pb, Ag, and Bi; the axial zone, by Sb, Hg, Tl, and As; and the hanging side (frontal zone), by
 As, Zn, Hg, Pb, Ag, (Cu). In the east (closer to the Auerbakh granitoid massif), Ag, Zn, Pb, Mn, Y, Mo, and W relatively accumulate, while in the west (most remotely from the intrusive), Sb, Ba, As, Hg, Co, Ni, and Sn dominate. The 40Ar/39Ar age of ~391.1 million years, obtained for hydromica of the gold-arsenic ores, corresponds to the period of emplacement of granodiorite of the final Auerbakh massif intrusive phase. The conclusion is made on the crucial magmatic contribution to the formation of gold ores of the deposit.

Calm Contact Technique Based on the Endocrinological Mechanism of Hypnosis-A Theoretical Proposal.

This paper proposes the "calm contact" technique: an imaginative scenario where someone is in gentle contact with a loved one where the essence of the experience is to enjoy safety and calmness in peaceful social contact. The theoretical background is outlined by combining the brain mechanisms of stress reactions and hypnosis. In addition to the ancient stress responses (flight or fight or freeze), there are oxytocin-based options at the human level: tend and befriend behavior and the state of calm and connection, which is not a stress reaction but a resting reaction. These social-based reactions could prevent the organism from the primitive freezing response. Some studies proved that "hypnosis" as a setting reduces cortisol levels and could raise oxytocin levels. The beneficial mechanisms of the "calm contact" technique are analyzed in relation to "social support" and the psychoaffective effects of central oxytocin. The subjective effects of the proposed technique are outlined based on reports of healthy volunteers. The "calm contact" technique could be an alternative or adjunct to the "safe place" technique, applying the recent findings of endocrinological brain mechanisms of hypnosis. Clinical implications and limitations are briefly summarized.

Effect of gentle physical contact on behavioural indicators in sheep.

The available literature provides ample evidence for the importance of gentle treatment and handling of farm animals for the establishment of relationships with humans. The present study is an attempt to verify the assumption that massage can be a tool for building sheep-human relationships and to determine the impact of this technique on the behaviour of lambs. In total, 40 3-week-old lambs (20 ewes of the synthetic prolific-meat line (BCP) and 20 Świniarka breed ewes) were assigned to two control groups (BCP, Świniarka) and two experimental groups (BCP, Świniarka). The lambs from the experimental groups received modified Shantala massage. During each session, the zoophysiotherapists massaged the chest, forelimbs, abdomen, hindlimbs, back, and face always in the same way and the same order. The massage was applied three times a day (at fixed times) for 21 consecutive days. Based on the behaviour manifested by the lambs during the massage sessions, a 2-point scale was developed for assessment of the animals from the research groups. After the massage, behavioural tests with the participation of a human, a dog, and a novel object were carried out for three consecutive days. Behaviours indicating curiosity (frequency of interaction, time of direct contact, latency) and fear (frequency of climbing and attempts to escape, duration of vocalisation) were assessed. The behavioural tests revealed significant differences in the behaviour of massaged and non-massaged lambs of both breeds, which confirms that the massage has a modifying effect on the behaviour of these animals. The influence of the applied technique was reflected by an increase in curiosity and a reduced level of fear.

Design, Control, and Validation of a Symmetrical Hip and Straight-Legged Vertically-Compliant Bipedal Robot.

This paper presents the development, modeling, and control of L03, an underactuated 3D bipedal robot with symmetrical hips and straight legs. This innovative design requires only five actuators, two for the legs and three for the hips. This paper is divided into three parts: (1) mechanism design and kinematic analysis; (2) trajectory planning for the center of mass and foot landing points based on the Divergent Component of Motion (DCM), enabling lateral and forward walking capabilities for the robot; and (3) gait stability analysis through prototype experiments. The primary focus of this study is to explore the application of underactuated symmetrical designs and determine the number of motors required to achieve omnidirectional movement of a bipedal robot. Our simulation and experimental results demonstrate that L03 achieves simple walking with a stable and consistent gait. Due to its lightweight construction, low leg inertia, and straight-legged design, L03 can achieve ground perception and gentle ground contact without the need for force sensors. Compared to existing bipedal robots, L03 closely adheres to the characteristics of the linear inverted pendulum model, making it an invaluable platform for future algorithm research.

A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism

Human finger excels at delicate and dynamic gripping tasks via coordinating soft tissues and rigid components, which is yet considerably challenging for robotic grippers. Herein, inspired by the human finger, a soft‐rigid structured gripper composed of three variable‐stiffness fingers with the antagonistic mechanism is proposed. Each finger can change its joint stiffness by selectively applying pretension to the springs so that it can exhibit different stiffness gradients to conform to the surfaces. Theoretical models are established to evaluate both the deformation and stiffness properties, and several experiments verify that it can increase the stiffness to 6.4 times after aggravating the antagonistic effect. Based on the variable stiffness, the finger performs sequential motion to conform to different curvatures, resulting in a larger contact area. Moreover, by stiffening joints, the proposed gripper can improve its grasping performance with a large grasping force while providing gentle contact. Furthermore, the gripper presents the capability of handling various objects with the optimal posture and gently grasping fragile objects like the paper ring and plasticine cylinder. Whereas this gripper can coordinate the relationship between high compliance and variable stiffness, the exploration of the gripper provides shed light on robotic design and practical application.

Piezo1 activation attenuates thrombin-induced blebbing in breast cancer cells.

ABSTRACTCancer cells exploit a variety of migration modes to leave primary tumors and establish metastases, including amoeboid cell migration, which is typically reliant on bleb formation. Here we demonstrate that thrombin induces dynamic blebbing in the MDA-MB-231 breast cancer cell line and confirm that protease-activated receptor 1 (PAR1) activation is sufficient to induce this effect. Cell confinement has been implicated as a driving force in bleb-based migration. Unexpectedly, we found that gentle contact compression, exerted using a custom built ‘cell press’ to mechanically stimulate cells, reduced thrombin-induced blebbing. Thrombin-induced blebbing was similarly attenuated using the small molecule Yoda1, an agonist of the mechanosensitive Ca2+ channel Piezo1, and this attenuation was impaired in Piezo1-depleted cells. Additionally, Piezo1 activation suppressed thrombin-induced phosphorylation of ezrin, radixin and moesin (ERM) proteins, which are implicated in the blebbing process. Our results provide mechanistic insights into Piezo1 activation as a suppressor of dynamic blebbing, specifically that which is induced by thrombin.

Boiling Transitions During Droplet Contact on Superheated Nano/Micro-Structured Surfaces.

Manipulating surface topography is one of the most promising strategies for increasing the efficiency of numerous industrial processes involving droplet contact with superheated surfaces. In such scenarios, the droplets may immediately boil upon contact, splash and boil, or could levitate on their own vapor in the Leidenfrost state. In this work, we report the outcomes of water droplets coming in gentle contact with designed nano/microtextured surfaces at a wide range of temperatures as observed using high-speed optical and X-ray imaging. We report a paradoxical increase in the Leidenfrost temperature (TLFP) as the texture spacing is reduced below a critical value (∼10 μm) that represents a minima in TLFP. Although droplets on such textured solids appear to boil upon contact, our studies suggest that their behavior is dominated by hydrodynamic instabilities implying that the increase in TLFP may not necessarily lead to enhanced heat transfer. On such surfaces, the droplets display a new regime characterized by splashing accompanied by a vapor jet penetrating through the droplets before they transition to the Leidenfrost state. We provide a comprehensive map of boiling behavior of droplets over a wide range of texture spacings that may have significant implications toward applications such as electronics cooling, spray cooling, nuclear reactor safety, and containment of fire calamities.

Shortcomings of the Derjaguin–Muller–Toporov model in dynamic atomic force microscopy

Force–distance curves recorded by frequency modulated atomic force microscopy (FM AFM) provide insight into the tip–sample mechanics. For quantitative analysis, FM AFM is able to separate conservative from dissipative forces by simultaneously measuring amplitude–distance and frequency–distance curves. Here, we report on the conservative forces in the gentle tip–sample contact of mesoscopic tips at low Tabor parameters. We introduce an analytical expression for the frequency shift based on the Derjaguin–Muller–Toporov (DMT) contact model to simplify the comparison between the experiment and theory. From the analytical formulas, a scaling law between the tip radius and minimal frequency shift is found, which is supported by experimental data. Although excellent fits for full frequency–distance curves are possible, the resulting material properties do not match the accepted literature values. We suspect that these flaws are a consequence of the incomplete treatment of attractive forces and DMT’s strain-stiffness approximation, rendering DMT-based models inappropriate to measure material properties by dynamic AFM in gentle contact.

Measuring nonuniform web tension for roll-to-roll manufacturing of flexible and printed electronics

High-quality roll-to-roll (R2R) manufacturing for flexible and printed electronics often requires uniform web tension. Nonuniformity in web tension can lead to nonuniform performance of printed electronic devices across the width of the web, and excessive nonuniformity in web tension can lead to web wrinkling. Here we develop and test a noncontact resonance (NCR) method and a gentle contact stiffness mapping (GCSM) method for measuring the average web tension and its linear variation across the width of the web. The NCR method uses the lowest symmetric and anti-symmetric frequencies of a web with a closed-form expression to obtain its linearly varied tension. The closed-form expression includes the significant effects of air loading on web vibrations through accurate hydrodynamic functions. While the GCSM method is based on nonlinear regression of the contact stiffness on multiple locations of the web. Both methods are accurate, reliable, and inexpensive, and are compatible for a wide range of web properties, web path, web tension, measurement configurations, and environmental conditions. We cross-validate the two methods on a stationary test stand and in-line test the NCR method in two spans of a moving commercial R2R system. We measure up to 35.58% cross-span tension variation in that system, and both average tension and its linear variation can vary in different spans of the same R2R system. We expect the results presented in this article can improve quality control of R2R processes for flexible and printed electronics and maximize device yields.

Soft-probe-scanning electrochemical microscopy reveals electrochemical surface reactivity of E. coli biofilms

Investigating and understanding dynamic biofilm growth mechanisms is challenging, often because state-of-the-art optical characterization tools provide limited information. Micrometric electrochemical imaging of Escherichia coli biofilms using Soft-Probe-Scanning Electrochemical Microscopy (Soft-Probe-SECM) is herein presented as a complementary technique. A soft microelectrode is scanned over biofilms in a gentle contact mode, which is essential to provide a constant working distance. The on-film reduction of an electro-active compound, here the oxidized form of ferrocene methanol, is used to create in situ biofilm metabolic activity maps by applying the feedback mode of SECM. SECM approach curves of identically grown biofilms suggest that the SECM-based detection of metabolic activity is surface-confined. The analysis could therefore be carried out on entire biofilms as well as on tape-stripped biofilm surface layers. The method is further capable of distinguishing between biofilms containing E. coli cells either with or without ampicillin-resistance. Finally, the SECM detection of the degradation of an E. coli biofilm in the presence of different gentamicin concentrations is presented.

Short- and long-term effects of rearing dairy calves with contact to their mother on their reactions towards humans.

In this Research Communication we address the hypotheses that reduced contact with humans during the first week of life would impair the relationship of dairy calves reared in dam-calf-contact systems to humans in comparison with artificially reared animals, but that this difference would vanish over time. Artificially reared calves (Artificial) that had been separated from their mother within 12 h after birth were bottle-fed with colostrum for 5 d and thereafter sucked milk from an automatic milk feeder. Animals reared with dam-calf contact (Dam-contact) were kept in the calving pen with their dam for 5 d, and then had permanent access to the cow barn and thus to their dam. Calves were weaned at an age of 12 weeks and kept in young stock groups mixed of both treatments until integration into the cow herd. We tested the animals' relationship with humans by assessing the animals' responses towards an unfamiliar person in an avoidance distance (AD) test in the home environment at 4 weeks of age, at 15 months and at 33 months. In calves, we additionally measured AD in a novel arena after a stationary person test. Artificial animals had lower AD, i.e. showed lower level of fear, than Dam-contact calves. However, the AD in Dam-contact calves decreased with increasing number of days they experienced assistance for suckling. Further, there was no significant difference in later ages. In conclusion, gentle human contact in combination with feeding during the first 5 d of life improved calves' relationship to humans leading to differences between the two treatments as well as within the Dam-contact calves. Potential effects under different conditions regarding quantity and quality of human-animal interactions need further research.

Su1422 CHOLANGIOPANCREATOSCOPY-GUIDED SOFT TISSUE LASER DISSECTION AND ABLATION FOR REFRACTORY STRICTURES AND NEOPLASIA

Benign pancreas and biliary strictures may be refractory to stenting. Safety data exists for laser tissue dissection in ex vivo biliary studies. Cholangiopancreatoscopy-guided laser dissection or ablation (CPL) provides a novel therapeutic modality that could be an alternative to surgical intervention. The primary aim of this study is to describe the safety and efficacy of CPL for a variety of pancreas and biliary disorders. A single-center retrospective review of patients who underwent CPL between 7/16-10/19. Holmium (Litho, Quanta System) or Thulium (Cyber TM, Quanta System) laser units with a 200-272μm fiber (International Medical Lasers) were used under saline immersion (frequency 8-20 Hz, energy 0.5 joules, power 5-20 Watts). Compared to holmium, thulium provides a continuous wave that has a shallow depth of penetration beneficial in dissection or ablation. For stricture dissection, gentle contact of the laser from a distal to proximal stroke was applied until lumen patency permitted advancement of the 10.5Fr cholangiopancreatoscope (SpyGlass DS, Boston Scientific) followed by balloon dilation and stenting. The definition of immediate technical success was the ability to traverse the stricture with the cholangiopancreatoscope after CPL and short-term technical success was improvement of the stricture from pre-CPL compared to subsequent ERCP. Descriptive statistics were used for patient characteristics and treatment details. In all, 11 patients (mean age of 58, 90.9% female) underwent a mean of 3.6 ERCP’s (mean total diameter of 14.2 Fr of stenting) prior to CPL (Table 1). Indications included pancreatic duct stricture (n=8, 72.7%), pancreaticojejunostomy anastomotic stricture (n=1), bile duct stricture (n=1) and pancreatic intraductal papillary mucinous neoplasm ablation (IPMN) in a medically inoperable patient with recurrent acute pancreatitis (n=1). 17 (median 1, range 1-3) CPL sessions were performed and holmium was used most frequently (73.3%) with a median energy delivered of 8.5 KJ (Table 2). There was one adverse event of pneumonia; no post-ERCP pancreatitis was noted. At mean follow-up of 11.5 months, immediate and short-term technical success rates were 92.9% (13/14 strictures) and 85.7% (12/14 strictures). In 63.6% (n=7) of patients, CPL of strictures permitted access to impacted pancreatic duct stones for concomitant laser lithotripsy. The patient with IPMN had no further hospitalizations for pancreatitis. 1) CPL for strictures of the pancreatic duct refractory to conventional dilation and multiple stenting carries a high rate of technical success and is safe. 2) CPL of downstream strictures can facilitate access to impacted stones for laser lithotripsy. 3) Larger studies with a control population are required to further validate this technique.Laser treatment detailsView Large Image Figure ViewerDownload Hi-res image Download (PPT)

Constraining the final merger of contact binary (486958) Arrokoth with soft-sphere discrete element simulations

The New Horizons mission has returned stunning images of the bilobate Kuiper belt object (486958) Arrokoth. It is a contact binary, formed from two intact and relatively undisturbed predecessor objects joined by a narrow contact region. We use a version of pkdgrav, an N-body code that allows for soft-sphere collisions between particles, to model a variety of possible merger scenarios with the aim of constraining how Arrokoth may have evolved from two Kuiper belt objects into its current contact binary configuration. We find that the impact must have been quite slow (≲ 5 m/s) and grazing (impact angles ≳ 75∘) in order to leave intact lobes after the merger, in the case that both progenitor objects were rubble piles. A gentle contact between two bodies in a close synchronous orbit seems most plausible.

Alpaca and llama behaviour during handling and its associations with caretaker attitudes and human-animal contact

The behaviour of new world camelids towards humans has received little research attention so far. Our aims were to assess the response of alpacas and llamas to handling, and to investigate its associations with caretaker attitudes and handling practices (i.e., the reported amount of contact to the animals at different ages). Reactions of 116 alpacas and llamas during handling by a familiar person and during a physical examination by a veterinarian were observed on 20 animal holdings. The 20 main caretakers completed or partially completed a questionnaire on their attitudes and their amount of contact to their animals. Data were analysed at farm level by means of Spearman rank correlations. Animals were generally very easy to lead by a familiar person, but a higher proportion showed fear and stress related behaviour, predominantly freezing, during the physical examinations. Associations between caretaker attitudes, amount of contact, and animal behaviour were found. For instance, if the caretakers found tactile contact more pleasant, a lower percentage of animals attempted to flee during leading (rs = -0.51, p < 0.05, n = 18). Likewise, a higher percentage of animals showed no rising or freezing during the physical examination, if the caretakers rated talking to the animals as more important (rs = 0.57 / 0.49, p < 0.05, n = 17), and a higher percentage of animals did not scream and / or squeal, if caretakers rated training as more pleasant (rs = 0.77, p < 0.001, n = 18). Out of the 12 participants rearing young animals, those stroking their animals more frequently in early life had a higher percentage of non-balking animals during leading (rs = 0.64, p < 0.05, n = 12). A higher percentage of animals with handling difficulties and /or attempts to flee was associated with lower frequencies of touching in later life (rs = -0.80, p < 0.01, n = 11). The overall results suggest similar sequential relationships between caretaker attitudes, amount of gentle contact with the animals and the animals’ behaviour, as in other species.