Many neural and vascular diseases in hands and fingers have been related to the degenerative responses of local neural and vascular systems in fingers to excessive dynamic loading. Since fingerpads serve as a coupling element between the hand and the objects, the investigation of the dynamic coupling between fingertip and subjects could provide important information for the understanding of the pathomechanics of these neural and vascular diseases. In the present study, the nonlinear and time-dependent force responses of fingertips during dynamic contact have been investigated experimentally and theoretically. Four subjects (2 male and 2 female) with an average age of 24 years participated in the study. The index fingers of right and left hands of each subject were compressed using a flat platen via a micro testing machine. A physical model was proposed to simulate the nonlinear and time-dependent force responses of fingertips during dynamic contact. Using a force relaxation test and a fast loading test at constant loading speed, the material/structural parameters underlying the proposed physical model could be identified. The predicted rate-dependent force/displacement curves and time-histories of force responses of fingertips were compared with those measured in the corresponding experiments. Our results suggest that the force responses of fingertips during the dynamic contacts are nonlinear and time-dependent. The physical model was verified to characterize the nonlinear, rate-dependent force-displacement behaviors, force relaxations, and time-histories of force responses of fingertips during dynamic contact.