The Hertzian contact theory is applied to the modeling of contact displacement of fingepad. This new numerical deformation model correlating the normal force and area of contact of the fingerpad by considering the fingerpad as elastic material can be used to predict the deformation of the fingerpad by the fabric. The relationship observed experimentally between the fingerpad displacements and the normal forces agrees with the numerical deformation model. The results show that the contact displacement is proportional to the normal force raised to the power of 2/3. Also the contact displacement equation between the fingerpad and fabric is represented using the rigid body motion and fingerpad deformation.