Tactile Detection Research Articles

Viewed touch influences tactile detection by altering decision criterion.

Our tactile perception is shaped not only by somatosensory input but also by visual information. Prior research on the effect of viewing touch on tactile processing has found higher tactile detection rates when paired with viewed touch versus a control visual stimulus. Therefore, some have proposed a vicarious tactile system that activates somatosensory areas when viewing touch, resulting in enhanced tactile perception. However, we propose an alternative explanation: Viewing touch makes the observer more liberal in their decision to report a tactile stimulus relative to not viewing touch, also resulting in higher tactile detection rates. To disambiguate between the two explanations, we examined the effect of viewed touch on tactile sensitivity and decision criterion using signal detection theory. In three experiments, participants engaged in a tactile detection task while viewing a hand being touched or approached by a finger, a red dot, or no stimulus. We found that viewing touch led to a consistent, liberal criterion shift but inconsistent enhancement in tactile sensitivity relative to not viewing touch. Moreover, observing a finger approach the hand was sufficient to bias the criterion. These findings suggest that viewing touch influences tactile performance by altering tactile decision mechanisms rather than the tactile perceptual signal.

Graded Nanotexturing Architectural Wearable Triboelectric Sensor for Programmable Haptic Exploration.

Emulating biological perception mechanisms to construct intelligent sensing devices and systems represents a paradigm for promoting human-computer interaction in the Internet of Everything era. Nonetheless, developing highly sensitive, real-time sensing and rapidly integrated intelligent interaction units remains a challenging and time-consuming endeavor. This study employs a low-temperature glow discharge technique to rapidly fabricate graded nanotexturing architectural triboelectric nanopaper, upon which wearable triboelectric sensors for real-time tactile detection are designed. The structure enhances the contact area under an external force. Additionally, the Z-stacking structure design enables the sensor to achieve a remarkable sensitivity of 10.3 kPa-1 and a rapid response time of 52 ms. Furthermore, a tactile sensor array was designed to demonstrate the triboelectric sensor's ability to recognize characteristic pressures. With programmable machine learning techniques, the object recognition rate reached 97%. This study supports material structural design across disciplines, laying a solid foundation for the rapid fabrication and integration of transient wearable electronics.

Investigating Stochastic Resonance in Tactile Discrimination

Stochastic resonance (SR) is a phenomenon where addition of noise to a system enhances the system’s signal-to-noise ratio. SR can improve the ability to detect weak signals. Lugo et al. showed that tactile detection threshold decreased when participants received auditory white noise. We aimed to replicate the results of Lugo et al., except that we measured tactile discrimination. We examined whether discrimination between durations of vibrotactile stimuli would be better when auditory noise was presented. Participants performed a 2AFC task for three noise conditions: no noise, 45 dB, 55 dB. A total of 17 out of 24 participants demonstrated increased tactile sensitivity when white noise was present compared to when it was absent, which is not statistically significant. The optimal noise level varied among individuals. Eight participants performed best at 45 dB and 4 at 55 dB. Hence, determining the ideal noise level for each person is crucial for enhancing tactile sensitivity.

Relations between tactile sensitivity of the finger, arm, and cheek skin over the lifespan showing decline only on the finger.

Touch sensitivity generally declines with age, contributing to loss of manual dexterity and tactile function. We investigated how touch changes over the lifespan, using different tests and on three body sites. We used a classical test of force detection sensitivity, where calibrated monofilaments were applied passively to the right index finger pad, forearm, and cheek. In addition, at the index, we used an active touch spatial discrimination task, developed by our group. Spatial discrimination was estimated through participants' ability to evaluate the distance between parallel bands printed on acrylic plates. Data were collected from 96 healthy women, aged 20-75 years. Force detection and tactile spatial discrimination on the index deteriorated significantly with age; however, no change was found for tactile detection on the forearm or cheek. Tactile detection on the cheek remained remarkably highly sensitive throughout life. There was a significant positive relationship between force detection and spatial discrimination on the index. Further, force detection on the forearm was significantly associated with detection on the index and cheek. Our results suggest a decrease in touch perception with age on the index finger pad, yet a preservation of tactile sensitivity in hairy skin. This opens discussion about the impact of daily activities upon the glabrous hand skin and on the function of hairs in tactile sensitivity. We highlight the need for new methods in evaluating tactile sensitivity on hairy skin.

Ketamine reduces the neural distinction between self- and other-produced affective touch: a randomized double-blind placebo-controlled study

A coherent sense of self is crucial for social functioning and mental health. The N-methyl-D-aspartate antagonist ketamine induces short-term dissociative experiences and has therefore been used to model an altered state of self-perception. This randomized double-blind placebo-controlled cross-over study investigated the mechanisms for ketamine’s effects on the bodily sense of self in the context of affective touch. Thirty healthy participants (15 females/15 males, age 19–39) received intravenous ketamine or placebo while performing self-touch and receiving touch by someone else during functional MRI – a previously established neural measure of tactile self-other-differentiation. Afterwards, tactile detection thresholds during self- and other-touch were assessed, as well as dissociative states, interoceptive awareness, and social touch attitudes. Compared to placebo, ketamine administration elicited dissociation and reduced neural activity associated with self-other-differentiation in the right temporoparietal cortex, which was most pronounced during other-touch. This reduction correlated with ketamine-induced reductions in interoceptive awareness. The temporoparietal cortex showed higher connectivity to somatosensory cortex and insula during other- compared to self-touch. This difference was augmented by ketamine, and correlated with dissociation strength for somatosensory cortex. These results demonstrate that disrupting the self-experience through ketamine administration affects neural activity associated with self-other-differentiation in a region involved in touch perception and social cognition, especially with regard to social touch by someone else. This process may be driven by ketamine-induced effects on top-down signaling, rendering the processing of predictable self-generated and unpredictable other-generated touch more similar. These findings provide further evidence for the intricate relationship of the bodily self with the tactile sense.

Sensory-Behavioral Deficits in Parkinson's Disease: Insights from a 6-OHDA Mouse Model.

Parkinson's disease (PD) is characterized by the degeneration of dopaminergic neurons in the striatum, predominantly associated with motor symptoms. However, non-motor deficits, particularly sensory symptoms, often precede motor manifestations, offering a potential early diagnostic window. The impact of non-motor deficits on sensation behavior and the underlying mechanisms remains poorly understood. In this study, we examined changes in tactile sensation within a Parkinsonian state by employing a mouse model of PD induced by 6-hydroxydopamine (6-OHDA) to deplete striatal dopamine (DA). Leveraging the conserved mouse whisker system as a model for tactile-sensory stimulation, we conducted psychophysical experiments to assess sensory-driven behavioral performance during a tactile detection task in both the healthy and Parkinson-like states. Our findings reveal that DA depletion induces pronounced alterations in tactile sensation behavior, extending beyond expected motor impairments. We observed diverse behavioral deficits, spanning detection performance, task engagement, and reward accumulation, among lesioned individuals. While subjects with extreme DA depletion consistently showed severe sensory behavioral deficits, others with substantial DA depletion displayed minimal changes in sensory behavior performance. Moreover, some exhibited moderate degradation of behavioral performance, likely stemming from sensory signaling loss rather than motor impairment. The implementation of a sensory detection task is a promising approach to quantify the extent of impairments associated with DA depletion in the animal model. This facilitates the exploration of early non-motor deficits in PD, emphasizing the importance of incorporating sensory assessments in understanding the diverse spectrum of PD symptoms.

Tactile Paving Detection and Tracking Using Tenji10K Dataset

Tactile paving is a ground‐texture display device installed on sidewalks to guide visually impaired people. In recent years, many studies have been conducted on tactile paving detection using cameras to help visually impaired people walk independently. In addition, several computer vision‐based tactile paving detection methods have been proposed. However, it is difficult to compare the detection accuracy of different proposed algorithms because there are no publicly available tactile paving datasets, and the ground truth and evaluation criteria used for evaluation are often inconsistent or not clearly presented. To this end, in this paper, we collect a tactile paving dataset and name it ‘Tenji10K’. The dataset is constructed with 20 sequences consisting of 10 K first‐person tactile paving images taken in Japan, and ‘Tenji block’ refers to Japanese‐style tactile paving. For detailed evaluation analysis, up to six sequence attributes are assigned, taking into account various real‐world situations. On the other hand, we also proposed a tactile paving tracking algorithm based on an evolutionary algorithm. The effectiveness of the dataset is evaluated by conducting a comparative experiment based on Tenji10K with respect to four different methods, including our proposed method. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand

Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However, for a linkage-based under-actuated robotic hand with a self-locking mechanism to realize stable grasping without using external sensors, such tasks are difficult to perform when only analyzing the robot model or only applying data-driven methods. Therefore, in this paper, a hybrid of previous approaches is used to find a solution for realizing stable grasping with an under-actuated hand. First, data from the internal sensors of a robotic hand are collected during its operation. Subsequently, using the robot model to analyze the collected data, the differences between the model and real data are explained. From the analysis, novel data-driven-based algorithms, which can overcome noted challenges to detect contact between a fingertip and the object and estimate the fingertip forces in real-time, are introduced. The proposed methods are finally used in a stable grasp controller to control a triple-fingered under-actuated robotic hand to perform stable grasping. The results of the experiments are analyzed to show that the proposed algorithms work well for this task and can be further developed to be used for other future dexterous manipulation tasks.

Ceramic nanoparticle based flexible hydrovoltaic devices for tactile and respiratory signal detection

Devices that utilize water evaporation or moisture to generate electricity have received significant research attention in the field of energy conversion and harvesting. Herein, a device capable of generating electricity through the process of water evaporation has been created, utilizing medical nonwoven fabric as a porous substrate with simple dip-coating and spray-coating techniques. The device constructs a multitude of nanopores on the substrate by employing a blend of Al2O3 nanoparticles of varying dimensions. The electrical output of the device was stable at 0.55 V and 6 μA from a small water supply, as confirmed by the test. The device can easily recognize the click of a finger through the release of minuscule amounts of water during the contact. Furthermore, the device has the ability to recognize various breathing patterns, such as normal breathing, rapid breathing, and wheezing that may induced by diseases. This work developed a flexible device for power generation by water evaporation process and provides a referable idea for human related humidity sensing.

Magnetic Tactile Sensor with Bionic Hair Array for Sliding Sensing and Object Recognition.

Due to the high application value in intelligent robots, tactile sensors with large sensing area and multi-dimensional sensing ability have attracted the attention of researchers in recent years. Inspired by bionics of hairs on human skin, a flexible tactile sensor based on magnetic cilia array is developed, showing extremely high sensitivity and stability. The upper layers of the sensor are multiple magnetic cilia containing magnetic particles, while the lower layer is a serpentine flexible circuit board with a magnetic sensor array. When magnetic cilia are bent under force, the magnetic sensor array can detect changes in the magnetic field, thereby the magnitude and direction of external force can be obtained. The proposed sensor has a resolution of 0.2 mN with a working range of 0-19.5 mN and can distinguish the direction of external force. The large sensing area and short response time make this sensor suitable for sliding tactile detection, and experiments show that the sensor can be also applied in object recognition with a success accuracy of 97%. In addition to the shape of objects, the sensor can identify whether there is magnetism inside objects, making it of significant value in intelligent robots and modern medicine.

Lever Mechanism for Diaphragm-Type Vibrators to Enhance Vibrotactile Intensity.

Thin and light vibrators that leverage the inverse piezoelectric effect with a diaphragm mechanism are promising vibrotactile actuators owing to their form factors and high temporal and frequency response. However, generating perceptually sufficient displacement in the low-frequency domain is challenging. This study presents a lever mechanism mounted on a diaphragm vibrator to enhance the vibrotactile intensity of low-frequency vibrotactile stimuli. The lever mechanism is inspired by the tactile contact lens consisting of an array of cylinders held against the skin on a sheet that enhances micro-bump tactile detection. We built an experimental apparatus including our previously developed thin-film diaphragm-type vibrator, which reproduced the common characteristic of piezoelectric vibrators: near-threshold displacement (10 to 20 μm) at low frequency. Experiments demonstrated enhanced vibrotactile intensity at frequencies less than 100 Hz with the lever mechanism. Although the arrangement and material of the mechanism can be improved, our findings can help improve the expressiveness of diaphragm-type vibrators.

Age differences in pain sensitivity and effect of topical lidocaine on the tongue in healthy female subjects.

To assess the sensitivity and the effect of topical lidocaine on the tongue by quantitative sensory testing, comparing healthy middle-aged female subjects with healthy young female subjects. Sixteen healthy female subjects including eight in their fifties and eight in their twenties participated. They participated in two sessions at a 2-week interval in randomized order: lidocaine (experimental session) or placebo gel (placebo session) was applied on the tongue tip for 5min. The following parameters were taken on the tongue tip before and after application of the gel in each session: tactile detection threshold (TDT), filament-prick pain detection threshold (FPT), and numerical rating scale (NRS). An increase of both TDT and FPT and a decrease of NRS were found after lidocaine application in both middle-aged and young female subjects. In the elder females, an increase of TDT, FPT, and NRS was also found after placebo gel application. However, the changes were not statistically significant, except for FPT in middle-aged subjects. The reactions found after lidocaine application in middle-aged female subjects could be due to habituation as well as to the post-application effect of placebo gel. Placebo-induced changes appeared more pronounced in the elder females.

Stretchable triboelectric sensor array for real-time tactile sensing based on coaxial printing

With the rapid development of flexible and wearable electronics, tactile sensor array has shown great potential to detect diverse external stimuli in human–machine interactions and robotic intelligence. In this study, we developed triboelectric sensor array (TSA) with cross-laminated electrode via low-cost coaxial printing technique with the advantages of high precision, high efficiency and excellent uniformity. The results show that the proposed cross-laminated electrode based TSA possesses the characteristics of easy-fabrication process, high-sensitivity, long-term mechanical endurance and real-time trajectory sensing capacity. It can generate the maximum output voltage of 15.98 V at a frequency 4 Hz and vertical force 5 N in single electrode mode, and the maximum power is about 3.9 μW. Besides, TSA shows excellent stability under harsh mechanical bending, twisting and stretching deformation and even waterproof capability. This work offers a previously unexplored strategy for shortening individual design and fabrication cycle of flexible electronics, and promoting the potential application for stretchable sensor array in electronic skin, tactile detection and human–machine interactions.

Disentangling sensory precision and prior expectation of change in autism during tactile discrimination

Predictive coding theories suggest that core symptoms in autism spectrum disorders (ASD) may stem from atypical mechanisms of perceptual inference (i.e., inferring the hidden causes of sensations). Specifically, there would be an imbalance in the precision or weight ascribed to sensory inputs relative to prior expectations. Using three tactile behavioral tasks and computational modeling, we specifically targeted the implicit dynamics of sensory adaptation and perceptual learning in ASD. Participants were neurotypical and autistic adults without intellectual disability. In Experiment I, tactile detection thresholds and adaptation effects were measured to assess sensory precision. Experiments II and III relied on two-alternative forced choice tasks designed to elicit a time-order effect, where prior knowledge biases perceptual decisions. Our results suggest a subtler explanation than a simple imbalance in the prior/sensory weights, having to do with the dynamic nature of perception, that is the adjustment of precision weights to context. Compared to neurotypicals, autistic adults showed no difference in average performance and sensory sensitivity. Both groups managed to implicitly learn and adjust a prior that biased their perception. However, depending on the context, autistic participants showed no, normal or slower adaptation, a phenomenon that computational modeling of trial-to-trial responses helped us to associate with a higher expectation for sameness in ASD, and to dissociate from another observed robust difference in terms of response bias. These results point to atypical perceptual learning rather than altered perceptual inference per se, calling for further empirical and computational studies to refine the current predictive coding theories of ASD.

Hello from the other side: Robust contralateral interference in tactile detection

Touch is unique among the sensory modalities in that our tactile receptors are spread across the body surface and continuously receive different inputs at the same time. These inputs vary in type, properties, relevance according to current goals, and, of course, location on the body. Sometimes, they must be integrated, and other times set apart and distinguished. Here, we investigate how simultaneous stimulation to different body sites affects tactile cognition. Specifically, we characterized the impact of irrelevant tactile sensations on tactile change detection. To this end, we embedded detection targets amidst ongoing performance, akin to the conditions encountered in everyday life, where we are constantly confronted with new events within ongoing stimuli. In the set of experiments presented here, participants detected a brief intensity change (.04 s) within an ongoing vibrotactile stimulus (1.6 s) that was always presented in a constantly attended location. The intensity change (i.e., the detection target) varied parametrically, from hardly detectable to easily detectable. In half of the trials, irrelevant ongoing stimulation was simultaneously presented to a site across the body midline, but participants were instructed to ignore it. In line with previous bimanual studies employing brief onset targets, we document robust interference on performance due to the irrelevant stimulation at each of the measured body sites (homologous and nonhomologous fingers, and the contralateral ankle). After describing this basic phenomenon, we further examine the conditions under which such interference occurs in three additional tasks. In each task, we honed in on a different aspect of the stimulation protocol (e.g., hand distance, the strength of the irrelevant stimulation, the detection target itself) in order to better understand the principles governing the observed interference effects. Our findings suggest a minimal role for exogenous attentional capture in producing the observed interference effects (Exp. 2), and a principled distribution of attentional resources or sensory integration between body sides (Exps. 3, 4). In our last study (Exp. 4), we presented bilateral tactile targets of varying intensities to both the relevant and irrelevant stimulation sites. We then characterized the degree to which the irrelevant stimulation is also processed. Our results—that participants’ perception of target intensity is always proportional to the combined bilateral signal—suggest that both body sites are equally weighed and processed despite clear instructions to attend only the target site. In light of this observation and participants’ inability to use selection processes to guide their perception, we propose that bilateral tactile inputs are automatically combined, quite possibly early in the hierarchy of somatosensory processing.

The Surface Modification of Papers Using Laser Processing towards Applications.

This work presents the results of paper laser processing. It begins with the selection and examination of the processing parameters, then an examination of the properties of the modified papers and examples of applications of the developed modification method. The properties of laser-modified paper were studied using reflectance spectrophotometry to examine the colour aspects of the modified papers, scanning electron microscopy (SEM) and confocal microscopy for a morphological analysis, and Raman spectroscopy to analyse the papers under the influence of laser light. The influence of laser processing on the wettability of paper and the evenness of unprinted and printed paper was also investigated. The knowledge gained on paper surface modification with laser light was used to propose several applications, such as methods of marking, tactile detection, the controlled removal of optical brightener, ink, and metallised coatings from paper packaging, highlighting the design and aesthetics of paper. The developed laser-assisted method shows a promising, ecological approach to the design of many value-added paper products.

Interneuron-Targeted Disruption of SYNGAP1 Alters Sensory Representations in the Neocortex and Impairs Sensory Learning.

SYNGAP1 haploinsufficiency in humans leads to severe neurodevelopmental disorders characterized by intellectual disability, autism, epilepsy, and sensory processing deficits. However, the circuit mechanisms underlying these disorders are not well understood. In mice, a decrease of SynGAP levels results in cognitive deficits by interfering with the development of excitatory glutamatergic connections. Recent evidence suggests that SynGAP also plays a crucial role in the development and function of GABAergic inhibitory interneurons. Nevertheless, it remains uncertain whether and to what extent the expression of SYNGAP1 in inhibitory interneurons contributes to cortical circuit function and related behaviors. The activity of cortical neurons has not been measured simultaneously with behavior. To address these gaps, we recorded from layer 2/3 neurons in the primary whisker somatosensory cortex (wS1) of mice while they learned to perform a whisker tactile detection task. Our results demonstrate that mice with interneuron-specific SYNGAP1 haploinsufficiency exhibit learning deficits characterized by heightened behavioral responses in the absence of relevant sensory input and premature responses to unrelated sensory stimuli not associated with reward acquisition. These behavioral deficits are accompanied by specific circuit abnormalities within wS1. Interneuron-specific SYNGAP1 haploinsufficiency increases detrimental neuronal correlations directly related to task performance and enhances responses to irrelevant sensory stimuli unrelated to the reward acquisition. In summary, our findings indicate that a reduction of SynGAP in inhibitory interneurons impairs sensory representation in the primary sensory cortex by disrupting neuronal correlations, which likely contributes to the observed cognitive deficits in mice with pan-neuronal SYNGAP1 haploinsufficiency.SIGNIFICANCE STATEMENT SYNGAP1 haploinsufficiency leads to severe neurodevelopmental disorders. The exact nature of neural circuit dysfunction caused by SYNGAP1 haploinsufficiency remains poorly understood. SynGAP plays a critical role in the function of GABAergic inhibitory interneurons as well as glutamatergic pyramidal neurons in the neocortex. Whether and how decreasing SYNGAP1 level in inhibitory interneurons disrupts a behaviorally relevant circuit remains unclear. We measure neural activity and behavior in mice learning a perceptual task. Mice with interneuron-targeted disruption of SYNGAP1 display increased detrimental neuronal correlations and elevated responses to irrelevant sensory inputs, which are related to impaired task performance. These results show that cortical interneuron dysfunction contributes to sensory deficits in SYNGAP1 haploinsufficiency with important implications for identifying therapeutic targets.

Comparison of the Box Task combined with a tactile Detection Response Task and the Occlusion Method as measures of secondary task demand

In-vehicle information systems (IVIS) demand driver attention and lead to driver distraction and inattention, impairing driving safety. The Box Task (BT) quantifies these secondary task demands concerning visual and manual aspects of the driving task. Combined with the tactile Detection Response Task (tDRT), it also measures cognitive demands. The standard method for assessing secondary task demand is the occlusion method. The present study compares the combined BT+tDRT method concerning various secondary task demands with the standardized occlusion method. In a laboratory study, participants completed artificial and realistic IVIS tasks with BT+tDRT or occlusion. Results revealed that BT+tDRT was able to distinguish different demands of visual, manual, and cognitive tasks, while the occlusion method was only able to distinguish different visual-manual IVIS tasks. Based on the results, we conclude that the combination of BT+tDRT captures the effects of IVIS on driving safety more precisely and comprehensively than does the occlusion method. Future research should compare the findings from this study with data from field studies. Also, the use of BT+tDRT should be further standardized.

Applying cosmetic oil with added aromatic compounds improves tactile sensitivity and skin properties

Tactile sensitivity generally decreases with aging and is associated with impairments in skin properties. Products that hydrate the skin can combat touch deficits and aromatic compounds have been shown to improve skin mechanical properties. Thus, we tested a base cosmetic oil against a perfumed oil, applied to the skin of females aged 40–60 years, on tactile sensitivity and skin properties after repeated application. Tactile detection thresholds were assessed using calibrated monofilaments applied at the index finger, palm, forearm, and cheek. Spatial discrimination on the finger was assessed using pairs of plates with different inter-band spaces. These tests were performed before and after 1 month of base or perfumed oil use. We found that tactile detection thresholds and spatial discrimination improved only in perfumed oil group. A complementary immunohistological study using human skin was conducted to estimate the expression of olfactory receptor OR2A4 and elastic fiber length. Further, the expression of OR2A4 intensity and the length of elastic fibers increased significantly with oil application, where larger effects were seen with the perfumed oil. We conclude that the application of a perfumed oil may be of additional benefit and could repair, and even prevent, tactile decline with aging by ameliorating skin condition.

Tactile misfit detection ability at the implant-abutment interface of internal connection dental implants: an in-vitro study

Objective The aim of this in-vitro study was to investigate the tactile assessment ability at the implant impression-taking stage. Methods Thirty clinicians (18 novices, 12 experts) were included for a tactile fit assessment by using a used/new probe (tip diameter 100 µm/20 µm). Six implant replicas and related impression copings of two internal connection implant systems were used, each with a perfect fit (0 µm) and defined vertical micro gaps of 8, 24, 55, 110 and 220 µm at the interface. Statistical analysis was performed using descriptive methods and non-parametric tests with a focus on specificity (ability to detect perfect fit), sensitivity (ability to detect misfit), and predictive values. P-values <5% were considered statistically significant. Results The tactile assessment showed a mean total sensitivity for the Straumann and Nobel Biocare systems of 83% and 80% with a used probe, and 91% and 92% with a new probe, respectively. The mean total specificities were 33% and 20% with a used probe and 17% and 3% with a new probe, respectively. No statistical significance was observed between novice and expert clinicians concerning their tactile assessment ability. Conclusions The ability to detect a perfect fit (specificity) with a probe was very poor for both implant systems and impaired with the use of a new probe. The use of a new probe improved the gap detection ability (sensitivity) significantly at the expense of the specificity. A combination of additional chairside techniques with training and calibration could improve clinicians’ ability to correctly assess the fit/misfit at the implant-abutment interface.