<p>Touch perception largely depends on the mechanical properties of the soft tissues of the glabrous skin of fingers and hands. The correct modelling of the stress–strain state of these tissues during the interaction with external objects can provide insights on the exteroceptual mechanisms of human touch, offering design guidelines for artificial haptic systems. However, devising correct models of the finger and hand at contact is a challenging task, due to the biomechanical complexity of human skin. This work presents an overview of the use of Finite Element analysis for studying the stress–strain state in the glabrous skin of the hand, under different loading conditions. We summarize existing approaches for the design and validation of Finite Element models of the soft tissues of the human finger and hand, evaluating their capability to provide results that are valuable in understanding tactile perception. The goal of our work is to serve as a reference and provide guidelines for those approaching this modelling method for the study of human haptic perception.</p>