The static coefficient of friction (µstatic) plays an important role in dexterous object manipulation. Minimal normal force (i.e., grip force) needed to avoid dropping an object is determined by the tangential force at the fingertip-object contact and the frictional properties of the skin-object contact. Although frequently assumed to be constant for all levels of normal force (NF, the force normal to the contact), µ static actually varies nonlinearly with NF and increases at low NF levels. No method is currently available to measure the relationship between µstatic and NF easily. Therefore, we propose a new method allowing the simple and reliable measurement of the fingertip µstatic at different NF levels, as well as an algorithm for determining µstatic from measured forces and torques. Our method is based on active, back-and-forth movements of a subject's finger on the surface of a fixed six-axis force and torque sensor. µstatic is computed as the ratio of the tangential to the normal force at slip onset. A negative power law captures the relationship between µstatic and NF. Our method allows the continuous estimation of µstatic as a function of NF during dexterous manipulation, based on the relationship between µstatic and NF measured before manipulation.