Tactual perception of material properties

Tactile sensitivity to missing tones in complex vibrotactile signals

Haptic interactions with objects induce complex vibrotactile signals that are central to tactile perception. Despite the broad literature on vibrotactile perception, surprisingly little is known about the sensory processing of complex tactile signals made of multiple pure tones. To fill this gap, the study reported here investigated the impact of the constitutive pure tones of a complex vibrotactile signal on its perception. Participants completed a three-alternative forced choice (3-AFC) task in which they were asked to identify an odd signal among two complex references. The odd signal was created by removing one pure tone from the reference, which varied in spectral composition, harmonicity, and interfrequency intervals. Each reference signal was made of either two, three, or four pure tones. The results revealed that the removed pure tone's value as well as the interfrequency interval play a significant role in participants' performance whereas changes in harmonicity and complexity have little impact. The smaller the ratio between the removed frequency and the lowest one of the reference signals, the better the participants' capacity to identify the signal with the missing tone. As this ratio correlates with that of pure tone's perceived intensity, participants' performance can be linked to either of them. Analysis of a subset of complex signals made of pure tones perceived with roughly equal intensity showed that the correlation still holds but slightly decreases. Overall, these results suggest that perception of complex vibrations might be mediated by tactile mechanisms related to both frequency selectivity and pure tones' perceived intensity.NEW & NOTEWORTHY This research investigates the respective roles of frequency range, harmonicity, and complexity on human perception of vibrotactile signals. The results revealed that only pure tones that are close to the lower frequencies of the complex vibration are noticed when they are missing. This finding sheds new light on the mechanisms underlying the tactile perception of complex vibrations.

Skin quality sensor to evaluate vibration and friction generated when sliding over skins

OBJECTIVE

The mechanical condition and tactile evaluation of skin are essential for the development of skin care products. Most of the existing commercial instruments and studies aim to evaluate the skin surface by pressing it for hardness or by using imaging sensors, but there have been few instrumental measurements employing rubbing motion. Here, we have developed a sensor specialized for tactile sensation and the contact phenomenon during skin rubbing.

METHODS

The developed sensor has three features: It can measure body parts including cheeks and arms, automate the rubbing motion of the probe and measure vibration and friction simultaneously. It is hand-held, with metal probes that rub the skin surface while rotating under a motor drive; it has an accelerometer and a force sensor beneath the probe measuring vibration and friction forces. To evaluate the validity of the sensor's measurements, artificial skin models were measured using the developed sensor and commercially available sensors and the results were compared. The relationship between the sensor output, surface roughness measurement and sensory evaluation was also investigated. Additionally, we evaluated the inter-rater reliability when measuring actual skin.

RESULTS

The measurements of five artificial skin models with different surface shapes showed a high correlation (r = 0.99) between the vibration intensity values evaluated by the developed sensor and those measured by a tri-axial acceleration sensor attached to a fingernail. The correlation coefficient between the vibration intensity values and surface roughness was r = 0.91, and the correlation with the sensory evaluation score of roughness was r = 0.99. The friction coefficients measured by the developed sensor and the force plate had r = 0.93, based on measurements of five artificial skin models with different friction conditions. The inter-rater correlation coefficients between the three participants of the developed sensor were as high as 0.92 and 0.94 for the vibration and friction measurements respectively.

CONCLUSION

The vibration intensities and friction coefficients from the sensor were highly correlated with those of the conventional sensor. The inter-rater reliability was also high. The developed sensor can be useful for tactile evaluation in skin-care product development.

Tasty vibes: Uncovering crossmodal correspondences between tactile vibrations and basic tastes

The interest in crossmodal correspondences individually involving the senses of touch and taste has grown rapidly in the last few decades. Several correspondences involving different tactile dimensions (e.g., hardness/softness, roughness/smoothness) have been uncovered, such as those between sweetness and softness and between roughness and sourness. However, a dimension that has been long overlooked, despite its pervasiveness and importance in everyday experiences, relates to tactile vibrations. The present study aimed to fill this gap and investigate crossmodal correspondences between basic tastes and vibrations. In the present study (N = 72), we uncovered these associations by having participants sample basic taste (i.e., sweet, salty, sour, bitter, umami) aqueous solutions and chose the frequency of vibrations, delivered via a consumer-grade subwoofer wristband on their dominant hand, that they most strongly associated with each taste. We found that sourness was most strongly associated with frequencies around 98 Hz, and that sweetness and umami were associated with frequencies around 77 Hz. These correspondences may, to different extents, be based on affective and semantic mechanisms. The findings have relevant implications for theoretical research on multisensory integration and perception and the potential future applications of these associations, through wearable technologies, to enhance eating experiences and promote healthier eating habits.

Unsupervised learning reveals interpretable latent representations for translucency perception

Humans constantly assess the appearance of materials to plan actions, such as stepping on icy roads without slipping. Visual inference of materials is important but challenging because a given material can appear dramatically different in various scenes. This problem especially stands out for translucent materials, whose appearance strongly depends on lighting, geometry, and viewpoint. Despite this, humans can still distinguish between different materials, and it remains unsolved how to systematically discover visual features pertinent to material inference from natural images. Here, we develop an unsupervised style-based image generation model to identify perceptually relevant dimensions for translucent material appearances from photographs. We find our model, with its layer-wise latent representation, can synthesize images of diverse and realistic materials. Importantly, without supervision, human-understandable scene attributes, including the object's shape, material, and body color, spontaneously emerge in the model's layer-wise latent space in a scale-specific manner. By embedding an image into the learned latent space, we can manipulate specific layers' latent code to modify the appearance of the object in the image. Specifically, we find that manipulation on the early-layers (coarse spatial scale) transforms the object's shape, while manipulation on the later-layers (fine spatial scale) modifies its body color. The middle-layers of the latent space selectively encode translucency features and manipulation of such layers coherently modifies the translucency appearance, without changing the object's shape or body color. Moreover, we find the middle-layers of the latent space can successfully predict human translucency ratings, suggesting that translucent impressions are established in mid-to-low spatial scale features. This layer-wise latent representation allows us to systematically discover perceptually relevant image features for human translucency perception. Together, our findings reveal that learning the scale-specific statistical structure of natural images might be crucial for humans to efficiently represent material properties across contexts.

Individuals with and without Visual Impairments Use a Force Feedback Device to Identify the Friction and Hardness of Haptic Surfaces

The general purpose of this study is to promote access to haptic virtual environments. Using a haptic device, people with and without visual impairments (VI) are able to feel different textures and compare these textures based on different surface properties, i.e., friction and hardness. The objectives of this study were to examine the following: (a) whether the variables of friction and hardness were identifiable through the Touch device (Phantom Omni) and could therefore function as 3D haptic variables; (b) if there were differences between people with VI and sighted individuals in terms of their performance; (c) the differences that should exist between the values of each variable so that the virtual surfaces could be identified as different to each other; and (d) if the individual characteristics of participants have an impact on their performance. The results showed that it is necessary to use surfaces which are differentiated based on the degree of friction and hardness because the haptic properties of a virtual object are then better perceived. Individuals with VI need more time and more effort to understand friction and hardness, respectively. With the motivation of increasing access to object perception for people with VI in a virtual environment, accessibility advisors and experts can extract useful information for the development of functional and efficient 3D objects for haptic perception.

Effects of Physical Hardness on the Perception of Rendered Stiffness in an Encountered-Type Haptic Display

Rendering stable hard surfaces is an important problem in haptics; current haptic devices cannot render hard objects and free space together. In our previous work, we addressed these limitations using an encountered-type haptic display system, which showed significant improvements compared to traditional rendering methods. In our approach, we attach a plate with the desired hardness to the kinesthetic device's end-effector, which the user interacts with using an untethered stylus. This method allows us to directly change the hardness of the end-effector based on the rendered object. In this paper, we evaluate how changing the hardness of the end-effector can mask the device's stiffness and affect the user's perception of the interaction. Our human subject experiment results indicate that when the end-effector is made of a hard material, it is difficult for users to perceive the stiffness change rendered by the device. On the other hand, this stiffness change is easily distinguished when the end-effector is made of a soft material. These results show promise for our combined hardness-stiffness display in avoiding the limitations of haptic devices when rendering hard surfaces.

Tracking changes in touch desire and touch avoidance before and after the COVID-19 outbreak

Touch is essential for survival, social bonding, and overall health. However, the COVID-19 pandemic calls for an abrupt withdrawal from physical contact, and the prolonged lockdown has left many people in solitude without touch for months. This unprecedented dissociation from touch has cast a shadow on people's mental and physical well-being. Here we approached the issue by examining COVID-19's impact on people's touch attitudes. We analyzed people's desire and avoidance for animate and inanimate targets based on large-scale Japanese Twitter posts over an 8-year span. We analyzed the impact of the COVID-19 outbreak with the difference-in-differences estimation method, which can estimate the impact while accounting for other changes over time such as seasonality or long-term effects. As a result, we found that people's desire for touching the human body and pet animals increased significantly after the COVID-19 outbreak and remained high afterward. In contrast, the avoidance of touching everyday objects (e.g., doorknobs and money) increased immediately after the outbreak but gradually returned to the pre-COVID-19 levels. Our findings manifest the impact of COVID-19 on human touch behavior. Most importantly, they highlight the sign of "skin hunger," a public health crisis due to social distancing, and call attention to the trend that people are becoming less aware of infection control as COVID-19 persists.

Multiple Spatial Spectral Components of Static Skin Deformation for Predicting Macroscopic Roughness Perception

A previous study suggested a relationship between the spatial spectrum of finger pad skin deformation and perception of macroscopic roughness features. This study tested a new hypothesis that macroscopic roughness perception is the result of a weighted linear combination of multiple spatial spectral components of skin deformation. Experiments were conducted by capturing close-up images of finger pad deformation while the pads were pushed onto specimens with macroscopic features. Additionally, the roughness perceptions of these specimens were collected using a magnitude estimation method. The combination of spectral components predicted the roughness perception more accurately than any single spectral component. This suggests that roughness perception is mediated by multiple Gabor filter-like neural systems with different spatial periods, such as visual perception.

Touch, Texture and Haptic Feedback: A Review on How We Feel the World around Us

Touch is one most of the important aspects of human life. Nearly all interactions, when broken down, involve touch in one form or another. Recent advances in technology, particularly in the field of virtual reality, have led to increasing interest in the research of haptics. However, accurately capturing touch is still one of most difficult engineering challenges currently being faced. Recent advances in technology such as those found in microcontrollers which allow the creation of smaller sensors and feedback devices may provide the solution. Beyond capturing and measuring touch, replicating touch is also another unique challenge due to the complexity and sensitivity of the human skin. The development of flexible, soft-wearable devices, however, has allowed for the creating of feedback systems that conform to the human form factor with minimal loss of accuracy, thus presenting possible solutions and opportunities. Thus, in this review, the researchers aim to showcase the technologies currently being used in haptic feedback, and their strengths and limitations.

Data-Driven Playback of Natural Tactile Texture Via Broadband Friction Modulation

We used broadband electroadhesion to reproduce the friction force profile measured as a finger slid across a textured surface. In doing so, we were also able to reproduce with high fidelity the skin vibrations characteristic of that texture; however, we found that this did not reproduce the original perception. To begin, the reproduction felt weak. In order to maximize perceptual similarity between a real texture and its friction force playback, the vibratory magnitude of the latter must be scaled up on average ≈ 3X for fine texture and ≈ 5X for coarse texture samples. This additional gain appears to correlate with perceived texture roughness. Additionally, even with optimal scaling and high fidelity playback, subjects could identify which of two reproductions corresponds to a real texture with only 71 % accuracy, as compared to 95 % accuracy when using real texture alternatives. We conclude that while tribometry and vibrometry data can be useful for texture classification, they appear to contribute only partially to texture perception. We propose that spatially distributed excitation of skin within the fingerpad may play an additional key role, and may thus be able to contribute to high fidelity texture reproduction.

Influence of different fluid environments on tactile perception and finger friction

Human beings often explore and perceive the characteristics of objects by touching with their fingers. During this process, the contact pressure and shear stress acting on the skin also modulate the tactile sensation. The external environment is an important factor that influences tactile perception as well as the finger friction characteristics. The purpose of this study was to investigate the effects of fluid environments, such as air, deionized water (DW) and thickened water (TW), on perceived roughness and relevant friction behaviour during finger movement. Two studies were performed to analyse the effect of fluid environment as well as the influence of lubricant viscosity on finger tactile friction behaviour. Participants conducted perception and sliding friction tests with their index finger in air and submerged in DW and TW, respectively. Perception tests were performed using a pairwise comparison, scoring the perceived roughness difference between a reference sample and the test sample. The statistical analysis showed that there was no significant difference in the roughness perception between air and DW, while the sensitivity of perception reduced with increasing lubricant viscosity. An approximate calculation of the film thickness was combined with classical lubrication theory to investigate the relationship between perception and friction. In TW, the thick film formed between the finger and the polytetrafluoroethylene plate changed the contact of the asperities with the skin, thus changing the subjective judgement and friction.

Quantification of Visual Texture and Presentation of Intermediate Visual Texture by Spatial Mixing

We proposed a method to display an intermediate visual texture by spatial mixing. In addition to color information, the visual texture is an important element that characterizes the nature of an object’s surface. While the system to display various color information has well matured in engineering, there is no method to reproduce visual textures in ambient light. In our method, the matte and glossy surfaces are used as “primary visual textures”, and an intermediate visual texture is displayed by spatially mixing the primary visual textures. In this paper, we first quantified the visual texture of an object's surface based on measured intensities of scattered and reflected lights. Next, based on the quantification, we evaluated spatially mixed surfaces consisting of two primary visual textures, an acrylic plate and a holed sheet of drawing paper, by changing the area proportion of the two primary visual textures. Finally, a sensory evaluation showed significant differences between each intermediate visual texture, and the results corresponded to a trend in the optical evaluation. This study illustrates that visual textures could be quantified based on the intensity of scattered and reflected light and reveals the applicability of our method to the display for intermediate visual texture.

The role of friction on skin wetness perception during dynamic interactions between the human index fingerpad and materials of varying moisture content

Mechanosensory inputs arising from dynamic interactions between the skin and moisture, such as when sliding a finger over a wet substrate, contribute to the perception of skin wetness. Yet, the exact relationship between the mechanical properties of a wet substrate, such as friction, and the resulting wetness perception remains to be established under naturalistic haptic interactions. We modeled the relationship between mechanical and thermal properties of substrates varying in moisture levels (0.49 × 10⁻⁴; 1.10 × 10⁻⁴; and 2.67 × 10⁻⁴ mL·mm⁻²), coefficient of friction (0.783, 0.848, 1.033, 0.839, 0.876, and 0.763), and maximum thermal transfer rate (Q_max, ranging from 511 to 1,260 W·m⁻²·K⁻¹), and wetness perception arising from the index finger pad’s contact with such substrates. Forty young participants (20M/20F) performed dynamic interactions with 21 different stimuli using their index finger pad at a controlled angle, pressure, and speed. Participants rated their wetness perception using a 100-mm visual analog scale (very dry to very wet). Partial least squares regression analysis indicated that coefficient of friction explained only ∼11% of the variance in wetness perception, whereas Q_max and moisture content accounted for ∼22% and 18% of the variance, respectively. These parameters shared positive relationships with wetness perception, such that the greater the Q_max, moisture content, and coefficient of friction, the wetter the perception. We found no differences in wetness perception between males and females. Our findings indicate that although the friction of a wet substrate modulates wetness perception, it is still secondary to thermal parameters such as Q_max.

NEW & NOTEWORTHY Our skin often interacts with wet materials, yet how their physical properties influence our experience of wetness remains poorly understood. We evaluated wetness perception following naturalistic haptic interactions with materials varying in moisture content, friction, optical profiles, and heat transfer rates. We show that although mechanical parameters can influence wetness perception, their role is secondary to that of thermal factors. These findings expand our understanding of multisensory integration and could guide innovation in healthcare product design.

Global surface features contribute to human haptic roughness estimations

Previous studies have paid special attention to the relationship between local features (e.g., raised dots) and human roughness perception. However, the relationship between global features (e.g., curved surface) and haptic roughness perception is still unclear. In the present study, a series of roughness estimation experiments was performed to investigate how global features affect human roughness perception. In each experiment, participants were asked to estimate the roughness of a series of haptic stimuli that combined local features (raised dots) and global features (sinusoidal-like curves). Experiments were designed to reveal whether global features changed their haptic roughness estimation. Furthermore, the present study tested whether the exploration method (direct, indirect, and static) changed haptic roughness estimations and examined the contribution of global features to roughness estimations. The results showed that sinusoidal-like curved surfaces with small periods were perceived to be rougher than those with large periods, while the direction of finger movement and indirect exploration did not change this phenomenon. Furthermore, the influence of global features on roughness was modulated by local features, regardless of whether raised-dot surfaces or smooth surfaces were used. Taken together, these findings suggested that an object’s global features contribute to haptic roughness perceptions, while local features change the weight of the contribution that global features make to haptic roughness perceptions.

Computer Vision System for Expressing Texture Using Sound-Symbolic Words

The major goals of texture research in computer vision are to understand, model, and process texture and ultimately simulate human visual information processing using computer technologies. The field of computer vision has witnessed remarkable advancements in material recognition using deep convolutional neural networks (DCNNs), which have enabled various computer vision applications, such as self-driving cars, facial and gesture recognition, and automatic number plate recognition. However, for computer vision to "express" texture like human beings is still difficult because texture description has no correct or incorrect answer and is ambiguous. In this paper, we develop a computer vision method using DCNN that expresses texture of materials. To achieve this goal, we focus on Japanese "sound-symbolic" words, which can describe differences in texture sensation at a fine resolution and are known to have strong and systematic sensory-sound associations. Because the phonemes of Japanese sound-symbolic words characterize categories of texture sensations, we develop a computer vision method to generate the phonemes and structure comprising sound-symbolic words that probabilistically correspond to the input images. It was confirmed that the sound-symbolic words output by our system had about 80% accuracy rate in our evaluation.

Material Recognition via Heat Transfer Given Ambiguous Initial Conditions

Humans and robots can recognize materials with distinct thermal effusivities by making physical contact and observing temperatures during heat transfer. This works well with room temperature materials, yet research has shown that contact with distinct materials can result in similar temperatures and confusion when one material is heated or cooled. To thoroughly investigate this form of ambiguity, we designed a psychophysical experiment in which a participant discriminates between two materials given initial conditions that result in similar temperatures (i.e., ambiguous initial conditions). In this article, we conducted a study with 32 human participants and a robot. Humans and the robot confused the materials. We also found that robots can overcome this ambiguity using two temperature sensors with different temperatures prior to contact. We support this conclusion based on a mathematical proof using a heat transfer model and empirical results in which a robot achieved 100% accuracy compared to 5% human accuracy. Our results also indicate that robots with a single temperature sensor can use subtle cues to outperform humans. Overall, our work provides insights into challenging conditions for material recognition via heat transfer, and suggests methods by which robots can overcome these challenges.

Metallic: A Bivalent Ambimodal Material Property?

Many metallic visual stimuli, especially the so-called precious metals, have long had a rich symbolic meaning for humans. Intriguingly, however, while metallic is used to describe sensations associated with pretty much every sensory modality, the descriptor is normally positively valenced in the case of vision while typically being negatively valenced in the case of those metallic sensations that are elicited by the stimulation of the chemical senses. In fact, outside the visual modality, metallic would often appear to be used to describe those sensations that are unfamiliar and unpleasant as much as to refer to any identifiable perceptual quality (or attribute). In this review, we assess those sensory stimuli that people choose to refer to as metallic, summarising the multiple, often symbolic, meanings of (especially precious) metals. The evidence of positively valenced sensation transference from metallic serviceware (e.g., plates, cups, and cutlery) to the food and drink with which it comes into contact is also reviewed.

The look and feel of soft are similar across different softness dimensions

The softness of objects can be perceived through several senses. For instance, to judge the softness of a cat's fur, we do not only look at it, we often also run our fingers through its coat. Recently, we have shown that haptically perceived softness covaries with the compliance, viscosity, granularity, and furriness of materials (Dovencioglu, Üstün, Doerschner, & Drewing, 2020). However, it is unknown whether vision can provide similar information about the various aspects of perceived softness. Here, we investigated this question in an experiment with three conditions: in the haptic condition, blindfolded participants explored materials with their hands, in the static visual condition participants were presented with close-up photographs of the same materials, and in the dynamic visual condition participants watched videos of the hand-material interactions that were recorded in the haptic condition. After haptically or visually exploring the materials, participants rated them on various attributes. Our results show a high overall perceptual correspondence among the three experimental conditions. With a few exceptions, this correspondence tended to be strongest between haptic and dynamic visual conditions. These results are discussed with respect to information potentially available through the senses, or through prior experience, when judging the softness of materials.

Nanomaterials and their applications on bio-inspired wearable electronics

Wearable electronics featuring conformal attachment, sensitive perception and intellectual signal processing have made significant progress in recent years. However, when compared with living organisms, artificial sensory devices showed undeniable bulky shape, poor adaptability, and large energy consumption. To make up for the deficiencies, biological examples provide inspirations of novel designs and practical applications. In the field of biomimetics, nanomaterials from nanoparticles to layered two-dimensional materials are actively involved due to their outstanding physicochemical properties and nanoscale configurability. This review focuses on nanomaterials related to wearable electronics through bioinspired approaches on three different levels, interfacial packaging, sensory structure, and signal processing, which comprehensively guided recent progress of wearable devices in leveraging both nanomaterial superiorities and biorealistic functionalities. In addition, opinions on potential development trend are proposed aiming at implementing bioinspired electronics in multifunctional portable sensors, health monitoring, and intelligent prosthetics.

Neural correlates of tactile hardness intensity perception during active grasping

While tactile sensation plays an essential role in interactions with the surroundings, relatively little is known about the neural processes involved in the perception of tactile information. In particular, it remains unclear how different intensities of tactile hardness are represented in the human brain during object manipulation. This study aims to investigate neural responses to various levels of tactile hardness using functional magnetic resonance imaging while people grasp objects to perceive hardness intensity. We used four items with different hardness levels but otherwise identical in shape and texture. A total of Twenty-five healthy volunteers participated in this study. Before scanning, participants performed a behavioral task in which they received a pair of stimuli and they were to report the perceived difference of hardness between them. During scanning, without any visual information, they were randomly given one of the four objects and asked to grasp it. We found significant blood oxygen-level-dependent (BOLD) responses in the posterior insula in the right hemisphere (rpIns) and the right posterior lobe of the cerebellum (rpCerebellum), which parametrically tracked hardness intensity. These responses were supported by BOLD signal changes in the rpCerebellum and rpIns correlating with tactile hardness intensity. Multidimensional scaling analysis showed similar representations of hardness intensity among physical, perceptual, and neural information. Our findings demonstrate the engagement of the rpCerebellum and rpIns in perceiving tactile hardness intensity during active object manipulation.

Function Follows Form: Using the Aesthetic Association Principle to Enhance Haptic Interface Design

Novel tangible user interface technologies facilitate current trends toward seamless user interfaces. They enable the design of yet unseen interfaces and thus the creation of a new kind of haptic language. In order to use the benefits of a touch-and-feel design for a positive user experience, carefully designed haptic feedback plays an important role by providing aesthetically pleasing and sustainable product features. Haptic feedback may exceed mere acquiring of buttons and input-confirmation but enable orientation and even identification of functionality governed by the haptic impression. We employed the aesthetic association principle as a deeply grounded psychological mechanism that assists effective linkage between haptic form factors and associated functional attributes. In order to illustrate this powerful principle, we analyzed the specific associations between certain main haptic surface qualities and associated functional aspects. In a series of three subsequent studies (Pre-Study 1: perception, Pre-Study 2: similarity, and Main Study: association), we explored paradigmatic associations of that kind to develop guidelines which forms are distinct to be used in interfaces. We show how forms are implicitly categorized into functional qualities (on/off, more-less, selection), using a multidimensional scaling procedure and explore explicit form-functionality associations, using a think-aloud method in the context of an automotive interface. For a series of forms, we revealed clear associative relations to specific functions. We will discuss the general value and opportunities of an association-based approach to user experience in order to create intuitive user interfaces. We will also develop ideas for specific areas of applications.

Experiencing the Untouchable: A Method for Scientific Exploration and Haptic Fruition of Artworks Microsurface Based on Optical Scanning Profilometry

The experience of an object derives not only from the sight but also from the touch: a tactile exploration can reveal the smallest information trapped within the surface up to our tactile detective threshold. Starting from the importance of this observation in the case of works of art, this research demonstrates the use of conoscopic holography sensors for high-quality acquisition of the surface of artworks (up to the micro-scale) suitable also to 3D printing. The purpose is twofold, allowing for the tactile use of the artwork, which is otherwise impossible, for visually impaired people and for new use in regard to scientific information purposes. In detail, the workflow to obtain a 3D printed replica of multiscale and polychrome artworks suitable for the haptic fruition is validated, but the potential of the tool as an innovative resource for scientific visualization of the microsurface of the artwork for conservation issues is also demonstrated. The validation was performed on notable Italian masterpieces, such as Donatello’s “Death Cristh” bronze relief in Padua and the Tintoretto painting “St. Martial in Glory with the Saints Peter and Paul” in Venice.

The roles of lower- and higher-order surface statistics in tactile texture perception

Humans can haptically discriminate surface textures when there is a significant difference in the statistics of the surface profile. Previous studies on tactile texture discrimination have emphasized the perceptual effects of lower-order statistical features such as carving depth, inter-ridge distance, and anisotropy, which can be characterized by local amplitude spectra or spatial-frequency/orientation subband histograms. However, the real-world surfaces we encounter in everyday life also differ in the higher-order statistics, such as statistics about correlations of nearby spatial-frequencies/orientations. For another modality, vision, the human brain has the ability to use the textural differences in both higher- and lower-order image statistics. In this work, we examined whether the haptic texture perception can use higher-order surface statistics as visual texture perception does, by three-dimensional (3-D)-printing textured surfaces transcribed from different "photos" of natural scenes such as stones and leaves. Even though the maximum carving depth was well above the haptic detection threshold, some texture pairs were hard to discriminate. Specifically, those texture pairs with similar amplitude spectra were difficult to discriminate, which suggests that the lower-order statistics have the dominant effect on tactile texture discrimination. To directly test the poor sensitivity of the tactile texture perception to higher-order surface statistics, we matched the lower-order statistics across different textures using a texture synthesis algorithm and found that haptic discrimination of the matched textures was nearly impossible unless the stimuli contained salient local features. We found no evidence for the ability of the human tactile system to use higher-order surface statistics for texture discrimination.NEW & NOTEWORTHY Humans can discriminate subtle spatial patterns differences in the surrounding world through their hands, but the underlying computation remains poorly understood. Here, we 3-D-printed textured surfaces and analyzed the tactile discrimination performance regarding the sensitivity to surface statistics. The results suggest that observers have sensitivity to lower-order statistics whereas not to higher-order statistics. That is, touch differs from vision not only in spatiotemporal resolution but also in (in)sensitivity to high-level surface statistics.

Characterization of an Electrode-Type Tactile Display Using Electrical and Electrostatic Friction Stimuli

Unlike tactile displays that use mechanical actuators, electrode-type tactile displays can be easily integrated and miniaturized because they consist of electrodes and insulators. Electrical tactile displays only require electrodes and use an electric current to stimulate vibration or pressure. Likewise, electrostatic friction tactile displays also only require electrodes and an insulator and can induce changes in friction between the display and a fingerpad. We have developed a tactile display that integrates electrical and electrostatic friction stimulation owing to their affinity to microfabrication techniques. This tactile display can provide both pressure and friction at the same time. In this study, we presented an elongated bar shape via the tactile display to experimental participants. The experimental results showed that a tactile display employing multiple stimuli as opposed to a single stimulus can induce the perception of larger shapes.

Altering One's Body-Perception Through E-Textiles and Haptic Metaphors

Technologies change rapidly our perception of reality, moving from augmented to virtual to magical. While e-textiles are a key component in exergame or space suits, the transformative potential of the internal side of garments to create embodied experiences still remains largely unexplored. This paper is the result from an art-science collaborative project that combines recent neuroscience findings, body-centered design principles and 2D vibrotactile array-based fabrics to alter one's body perception. We describe an iterative design process intertwined with two user studies on the effects on body-perceptions and emotional responses of various vibration patterns within textile that were designed as spatial haptic metaphors. Our results show potential in considering materials (e.g., rocks) as sensations to design for body perceptions (e.g., being heavy, strong) and emotional responses. We discuss these results in terms of sensory effects on body perception and synergetic impact to research on embodiment in virtual environments, human-computer interaction, and e-textile design. The work brings a new perspective to the sensorial design of embodied experiences which is based on “material perception” and haptic metaphors, and highlights potential opportunities opened by haptic clothing to change body-perception.

Friction sensing mechanisms for perception and motor control: passive touch without sliding may not provide perceivable frictional information

Perception of the frictional properties of a surface contributes to the multidimensional experience of exploring various materials; we slide our fingers over a surface to feel it. In contrast, during object manipulation, we grip objects without such intended exploratory movements. Given that we are aware of the slipperiness of objects or tools that are held in the hand, we investigated whether the initial contact between the fingertip skin and the surface of the object is sufficient to provide this consciously perceived frictional information. Using a two-alternative forced-choice protocol, we examined human capacity to detect frictional differences using touch, when two otherwise structurally identical surfaces were brought in contact with the immobilized finger perpendicularly or under an angle (20° or 30°) to the skin surface (passive touch). An ultrasonic friction reduction device was used to generate three different frictions over each of three flat surfaces with different surface structure: 1) smooth glass, 2) textured surface with dome-shaped features, and 3) surface with sharp asperities (sandpaper). Participants (n = 12) could not reliably indicate which of the two surfaces was more slippery under any of these conditions. In contrast, when slip was induced by moving the surface laterally by a total of 5 mm (passive slip), participants could clearly perceive frictional differences. Thus making contact with the surface, even with moderate tangential forces, was not enough to perceive frictional differences, instead conscious perception required a sufficient size slip.NEW & NOTEWORTHY This study contributes to understanding how frictional information is obtained and used by the brain. When the skin is contacting surfaces of identical topography but varying frictional properties, the deformation pattern is different; however, available sensory cues did not get translated into perception of frictional properties unless a sufficiently large lateral movement was present. These neurophysiological findings may inform how to design and operate haptic devices relying on friction modulation principles.

Shitsukan - the Multisensory Perception of Quality

We often estimate, or perceive, the quality of materials, surfaces, and objects, what the Japanese refer to as 'shitsukan', by means of several of our senses. The majority of the literature on shitsukan perception has, though, tended to focus on the unimodal visual evaluation of stimulus properties. In part, this presumably reflects the widespread hegemony of the visual in the modern era and, in part, is a result of the growing interest, not to mention the impressive advances, in digital rendering amongst the computer graphics community. Nevertheless, regardless of such an oculocentric bias in so much of the empirical literature, it is important to note that several other senses often do contribute to the impression of the material quality of surfaces, materials, and objects as experienced in the real world, rather than just in virtual reality. Understanding the multisensory contributions to the perception of material quality, especially when combined with computational and neural data, is likely to have implications for a number of fields of basic research as well as being applicable to emerging domains such as, for example, multisensory augmented retail, not to mention multisensory packaging design.

Towards Haptic Images: A Survey on Touchscreen-Based Surface Haptics

The development of tactile screens opens new perspectives for co-located images and haptic rendering, leading to the concept of "haptic images." They emerge from the combination of image data, rendering hardware, and haptic perception. This enables one to perceive haptic feedback while manually exploring an image. This raises nevertheless two scientific challenges, which serve as thematic axes for the state of the art of this survey. Firstly, the choice of appropriate haptic data raises a number of issues about human perception, measurements, modeling and distribution. Secondly, the choice of appropriate rendering technology implies a difficult trade-off between expressiveness and usability.

Physical Variables Underlying Tactile Stickiness During Fingerpad Detachment

One may notice a relatively wide range of tactile sensations even when touching the same hard, flat surface in similar ways. Little is known about the reasons for this variability, so we decided to investigate how the perceptual intensity of light stickiness relates to the physical interaction between the skin and the surface. We conducted a psychophysical experiment in which nine participants actively pressed their finger on a flat glass plate with a normal force close to 1.5 N and detached it after a few seconds. A custom-designed apparatus recorded the contact force vector and the finger contact area during each interaction as well as pre- and post-trial finger moisture. After detaching their finger, participants judged the stickiness of the glass using a nine-point scale. We explored how sixteen physical variables derived from the recorded data correlate with each other and with the stickiness judgments of each participant. These analyses indicate that stickiness perception mainly depends on the pre-detachment pressing duration, the time taken for the finger to detach, and the impulse in the normal direction after the normal force changes sign; finger-surface adhesion seems to build with pressing time, causing a larger normal impulse during detachment and thus a more intense stickiness sensation. We additionally found a strong between-subjects correlation between maximum real contact area and peak pull-off force, as well as between finger moisture and impulse.

Haptic Material Analysis and Classification Inspired by Human Exploratory Procedures

We present a framework for the acquisition and parametrization of object material properties. The introduced acquisition device, denoted as Texplorer2, is able to extract surface material properties while a human operator is performing exploratory procedures. Using the Texplorer2, we scanned 184 material classes which we labeled according to biological, chemical, and geological naming conventions. Based on these real material recordings, we introduce a novel set of mathematical features which align with corresponding material properties defined in perceptual studies from related work and classify the materials using common machine learning techniques. Validation results of the proposed multi-modal features lead to an overall classification accuracy of 90.2% ± 1.2% and an F[Formula: see text] score of 0.90 ± 0.01 using the random forest classifier. For the sake of comparison, a deep neural network is trained and tested on images of the material surfaces; it outperforms (90.7% ± 1.0%) the hand-crafted feature-based approach yet leads to more critical misclassifications in terms of the proposed taxonomy.

Individual Differences in Aesthetic Preferences for Multi-Sensorial Stimulation

The aim of the current project was to investigate aesthetics in multi-sensorial stimulation and to explore individual differences in the process. We measured the aesthetics of interactive objects (IOs) which are three-dimensional objects with electronic components that exhibit an autonomous behaviour when handled, e.g., vibrating, playing a sound, or lighting-up. The Q-sorting procedure of Q-methodology was applied. Data were analysed by following the Qmulti protocol. The results suggested that overall participants preferred IOs that (i) vibrate, (ii) have rough surface texture, and (iii) are round. No particular preference emerged about the size of the IOs. When making an aesthetic judgment, participants paid more attention to the behaviour variable of the IOs than the size, contour or surface texture. In addition, three clusters of participants were identified, suggesting that individual differences existed in the aesthetics of IOs. Without proper consideration of potential individual differences, aesthetic scholars may face the risk of having significant effects masked by individual differences. Only by paying attention to this issue can more meaningful findings be generated to contribute to the field of aesthetics.

From finger friction to brain activation: Tactile perception of the roughness of gratings

The formation of tactile perception is related to skin receptors and the cerebral cortex. In order to systematically study the tactile perception from finger friction to the brain response, a 32-channel Brain Products system and two tri-axial force sensors were used to obtain electroencephalograph (EEG) and friction signals during fingers exploring grating surfaces. A finite element finger model was established to analyze the stress changes of the skin receptors during tactile perception. Samples with different grating widths and spaces were chosen. The results indicated that different gratings induced different stress concentrations within skin that stimulated Meissner and Merkel receptors. Skin friction was affected by gratings during the tactile perception. It was also found that P300 evoked by gratings was related with the skin deformation, contact area, friction force, and stress around cutaneous mechanoreceptors. The wider grating width generated larger skin deformation, friction force, and stress, which induced stronger tactile stimulation. The smaller grating spacing generated higher vibration frequency, inducing stronger tactile stimulation. The latency of the P300 peak was related to the difference between the textured target stimulus and the smooth non-target stimulus. This study proofed that there was a relationship between the activation in brain regions, surface friction, and contact conditions of skin during the tactile perception. It contributes to understanding the formation process and cognitive mechanism of tactile perception of different surface textures.

Tactile aesthetics: Textures that we like or hate to touch

Considering object identification and recognition as well as human interaction with objects, texture as a surface property plays a crucial role. A deeper understanding of tactile aesthetics can be useful in the applied field such as in product designs that appeal more to our senses and that are more effective in eliciting certain emotional responses from a potential consumer. In the present study, behavioral experiments were performed using unfamiliar custom-made dot pattern stimuli under two complementary questionings. The first question focused on the tactile perceptive attributes related to topographical characteristics of the textures exhibited by the material surfaces. The second question focused on the texture pleasantness related both to the perceptive attributes and to the topographical characteristics of the textures. The perspective of this work opens on complementary fields of research such as neurosciences to determine the brain mechanisms in the processing of the pleasantness of tactile stimuli.

A Theoretical Framework of Haptic Processing in Automotive User Interfaces and Its Implications on Design and Engineering

Driving a car is a highly visual task. Despite the trend towards increased driver assistance and autonomous vehicles, drivers still need to interact with the car for both driving and non-driving relevant tasks, at times simultaneously. The often-resulting high cognitive load is a safety issue, which can be addressed by providing the driver with alternative feedback modalities, such as haptics. Recent trends in the automotive industry are moving towards the seamless integration of control elements through touch-sensitive surfaces. Psychological knowledge on optimally utilizing haptic technologies remains limited. The literature on automotive haptic feedback consists mainly of singular findings without putting them into a broader user context with respect to haptic design of interfaces. Moreover, haptic feedback has primarily been limited to the confirmation of control actions rather than the searching or finding of control elements, the latter of which becomes particularly important considering the current trends. This paper presents an integrated framework on haptic processing in automotive user interfaces and provides guidelines for haptic design of user interfaces in car interiors.

Hand-Feel Touch Cues and Their Influences on Consumer Perception and Behavior with Respect to Food Products: A Review

There has been a great deal of research investigating intrinsic/extrinsic cues and their influences on consumer perception and purchasing decisions at points of sale, product usage, and consumption. Consumers create expectations toward a food product through sensory information extracted from its surface (intrinsic cues) or packaging (extrinsic cues) at retail stores. Packaging is one of the important extrinsic cues that can modulate consumer perception, liking, and decision making of a product. For example, handling a product packaging during consumption, even just touching the packaging while opening or holding it during consumption, may result in a consumer expectation of the package content. Although hand-feel touch cues are an integral part of the food consumption experience, as can be observed in such an instance, little has been known about their influences on consumer perception, acceptability, and purchase behavior of food products. This review therefore provided a better understanding about hand-feel touch cues and their influences in the context of food and beverage experience with a focus on (1) an overview of touch as a sensory modality, (2) factors influencing hand-feel perception, (3) influences of hand-feel touch cues on the perception of other sensory modalities, and (4) the effects of hand-feel touch cues on emotional responses and purchase behavior.

Physical origin of a complicated tactile sensation: 'shittori feel'

Shittori feel is defined as a texture that is moderately moisturized; however, many people experience 'shittori feel' when they touch a dry solid material containing little liquid. Here, shittori feel was evaluated for 12 materials. We found that the highest score of shittori feel was achieved by powders. Multiple regression analysis showed that shittori feel is a complex sense of moist and smooth feels. We analysed the relationship between the physical properties and the moist/smooth feels to show how subjects felt certain feels simultaneously. The moist and smooth feels are related to the surface roughness and friction characteristics of the materials. The moist and smooth feels can be perceived when the finger starts to move on the material surface and when the finger moves and rubs the material surface, respectively.

Unilateral and Bilateral Virtual Springs: Contact Transitions Unmask Device Dynamics

The study of haptic perception often makes use of haptic rendering to display the variety of impedances needed to run an experiment. Unacknowledged in many cases is the influence of the selected device hardware on what the user will feel, particularly in interactions featuring frequencies above the control bandwidth. While human motion is generally limited to 10 Hz, virtual environments with unilateral constraints are subject to excitation of a wider frequency spectrum through contact transitions. We employ the effective impedance decomposition to discuss the effects of parasitics outside the rendering bandwidth. We also introduce an analysis of the admittance and impedance controllers with respect to sensitivity to load cell noise. We explore these effects using a single degree-of-freedom device that can be configured for either a low or high mechanical advantage in a perceptual experiment, with experimental conditions designed through application of the effective impedance decomposition. We find that the excitation of high frequencies through contact transitions negatively impacts humans' ability to distinguish between stiffnesses.

Gaze Augmented Hand-Based Kinesthetic Interaction: What You See is What You Feel

Kinesthetic interaction between the user and the computer mainly utilizes the hand-based input with force-feedback devices. There are two major shortcomings in hand-based kinesthetic interaction: physical fatigue associated with continuous hand movements and the limited workspace of current force-feedback devices for accurately exploring a large environment. To address these shortcomings, we developed two interaction techniques that use eye gaze as an additional input modality: HandGazeTouch and GazeTouch. Hand GazeTouch combines eye gaze and hand motion as the input for kinesthetic interaction, i.e., it uses eye gaze to point and hand motion to touch. GazeTouch replaces all hand motions in touch behavior with eye gaze, i.e., it uses eye gaze to point and gaze dwell time to trigger the touch. In both interaction techniques, the user feels the haptic feedback through the force-feedback device. The gaze-based techniques were evaluated in a softness discrimination experiment by comparing them to the traditional kinesthetic interface, HandTouch, which only uses the hand-based input. The results indicate that the HandGazeTouch technique is not only as accurate, natural, and pleasant as the traditional interface but also more efficient.

Behavioral analysis of substrate texture preference in a leech, Helobdella austinensis

Leeches in the wild are often found on smooth surfaces, such as vegetation, smooth rocks or human artifacts such as bottles and cans, thus exhibiting what appears to be a "substrate texture preference". Here, we have reproduced this behavior under controlled circumstances, by allowing leeches to step about freely on a range of silicon carbide substrates (sandpaper). To begin to understand the neural mechanisms underlying this texture preference behavior, we have determined relevant parameters of leech behavior both on uniform substrates of varying textures, and in a behavior choice paradigm in which the leech is confronted with a choice between rougher and smoother substrate textures at each step. We tested two non-exclusive mechanisms which could produce substrate texture preference: (1) a Differential Diffusion mechanism, in which a leech is more likely to stop moving on a smooth surface than on a rough one, and (2) a Smoothness Selection mechanism, in which a leech is more likely to attach its front sucker (prerequisite for taking a step) to a smooth surface than to a rough one. We propose that both mechanisms contribute to the texture preference exhibited by leeches.

Neurocognitive Functioning of Sport Climbers

Sport climbing, included in the programme of the Tokyo 2020 Summer Olympic Games, is increasingly gaining in popularity as a method of physical and mental health enhancement. Studies show a positive relationship between climbing and improvement of neurocognitive functioning. The aim of this study was to determine the differences in neurocognitive indicators: time of testing, memory, and location between climbers and non-climbers. The sample comprised 30 sport climbers (15 males, 15 females; aged 25 ± 4 years) practicing climbing regularly for five years, and 30 non-climbing age- and sex-matched controls. The Tactual Performance Test (Halstead-Reitan Test Battery) was used to measure neurocognitive functions (tactile-spatial functions, motion coordination, kinesthetic abilities, learning, memory). Significant differences were found between sport climbers and controls in reference to time, memory, and location (p < 0.05). Climbers reached higher memory as well as location ratios and lower time ratios in comparison to controls. Different strategies used to complete the task between the two groups were observed. The neurocognitive functioning of sport climbers manifests itself in faster recognition and differentiation of tactile input and better spatial perception, tactile perception, and movement memory.

Modeling Semantically Multilayered Affective and Psychophysical Responses Toward Tactile Textures

Subjective responses related to touch are described via perceptual and affective adjectives. Understanding relationships among such responses is useful for industrial surface design. We developed a method for investigating relationships among touch-related responses by constructing multilayered adjective models without assumptions regarding model structure such as adjective hierarchy or a definition of layers. The method consists of two processes through which a model structure and parameters are estimated. To acquire the model structure, subjectively evaluated causal relationships among adjective pairs are used. Free parameters, such as effects among adjectives, are then statistically estimated through sensory evaluation and structural equation modeling. To validate the method, two models with different levels of details were developed using 29 adjective pairs and 46 texture samples. For example, the model with three layers, which we categorized into psychophysical, affective, and hedonic layers, was constructed. Moreover, a detailed model with four layers was provided, which was more complex than previously reported models. The present method helps advance our understanding and design of connections among subjective surface ratings.

Effects of the Surface Texture and Weight of a Pinch Apparatus on the Reliability and Validity of a Hand Sensorimotor Control Assessment

OBJECTIVES

To investigate the reliability and validity of a modified pinch apparatus devised with 3 surface textures and 2 different weights for clinical application.

DESIGN

Case-controlled study.

SETTING

A university hospital.

PARTICIPANTS

The participants (N=32) included carpal tunnel syndrome (CTS) patients (n=16) with 20 sensory neuropathy hands, and an equal number of age-sex matched volunteers without CTS, as well as young volunteers without CTS (n=16 with 20 hands) used to analyze both the testing validity and reliability of the modified device.

INTERVENTIONS

Not applicable.

MAIN OUTCOME MEASURES

The Semmes-Weinstein monofilament (SWM) and two-point discrimination (2PD) tests were conducted, and the force ratio between the FP_peak (peak pinch force during lifting phase) and FL_max (maximum load force at maximum upward acceleration onset) detected from a pinch-holding-up activity (PHUA) under various testing conditions was obtained.

RESULTS

The range of the intraclass correlation coefficient of this pinch device was 0.369-0.952. The CTS patients exhibited poorer force modulation ability according to the inertial change in a dynamic lifting task when compared to the controls under all testing conditions (P<.001). The area under the receiver operating characteristic force ratio curve was 0.841, revealing high accuracy of the test for diagnosing CTS neuropathic hands under the testing condition in which the 125-g coarse texture device was used. In addition, the weight factor was shown to have significant effects on the sensitivity and accuracy of the PHUA assessment.

CONCLUSIONS

This study showed that the PHUA test via the modified pinch apparatus is a sensitive tool that can be used in clinical practice for detecting neuropathic CTS hands. In addition, changing the weight of the pinch device has a significant effect on the sensitivity and accuracy of the PHUA assessment.

Biomechanical Texture Coding in Rat Whiskers

Classically, texture discrimination has been thought to be based on ‘global’ codes, i.e. frequency (signal analysis based on Fourier analysis) or intensity (signal analysis based on averaging), which both rely on integration of the vibrotactile signal across time and/or space. Recently, a novel ‘local’ coding scheme based on the waveform of frictional movements, discrete short lasting kinematic events (i.e. stick-slip movements called slips) has been formulated. We performed biomechanical measurements of relative movements of a rat vibrissa across sandpapers of different roughness. We find that the classic global codes convey some information about texture identity, but are consistently outperformed by the slip-based local code. Moreover, the slip code also surpasses the global ones in coding for active scanning parameters. This is remarkable as it suggests that the slip code would explicitly allow the whisking rat to optimize perception by selecting goal-specific scanning strategies.

Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials

We need to understand the physics of how the skin of the finger pad deforms, and their tie to perception, to accurately reproduce a sense of compliance, or 'softness,' in tactile displays. Contact interactions with compliant materials are distinct from those with rigid surfaces where the skin flattens completely. To capture unique patterns in skin deformation over a range of compliances, we developed a stereo imaging technique to visualize the skin through optically clear stimuli. Accompanying algorithms serve to locate and track points marked with ink on the skin, correct for light refraction through stimuli, and estimate aspects of contact between skin and stimulus surfaces. The method achieves a 3-D spatial resolution of 60-120 microns and temporal resolution of 30 frames per second. With human subjects, we measured the skin's deformation over a range of compliances (61-266 kPa), displacements (0-4 mm), and velocities (1- 15 mm/s). The results indicate that the method can differentiate patterns of skin deformation between compliances, as defined by metrics including surface penetration depth, retention of geometric shape, and force per gross contact area. Observations of biomechanical cues of this sort are key to understanding the perceptual encoding of compliance.

Mechanisms of tactile sensory deterioration amongst the elderly

It is known that roughness-smoothness, hardness-softness, stickiness-slipperiness and warm-cold are predominant perceptual dimensions in macro-, micro- and nano- texture perception. However, it is not clear to what extent active tactile texture discrimination remains intact with age. The general decrease in tactile ability induces physical and emotional dysfunction in elderly, and has increasing significance for an aging population. We report a method to quantify tactile acuity based on blinded active exploration of systematically varying micro-textured surfaces and a same-different paradigm. It reveals that elderly participants show significantly reduced fine texture discrimination ability. The elderly group also displays statistically lower finger friction coefficient, moisture and elasticity, suggesting a link. However, a subpopulation of the elderly retains discrimination ability irrespective of cutaneous condition and this can be related to a higher density of somatosensory receptors on the finger pads. Skin tribology is thus not the primary reason for decline of tactile discrimination with age. The remediation of cutaneous properties through rehydration, however leads to a significantly improved tactile acuity. This indicates unambiguously that neurological tactile loss can be temporarily compensated by restoring the cutaneous contact mechanics. Such mechanical restoration of tactile ability has the potential to increase the quality of life in elderly.

Force-Rate Cues Reduce Object Deformation Necessary to Discriminate Compliances Harder than the Skin

Grasping and manipulating an object requires us to perceive its material compliance. Compliance is thought to be encoded by relationships of force, displacement, and contact area at the finger pad. Prior work suggests that objects must be sufficiently deformed to become discriminable, but the utility of time-dependent cues has not been fully explored. The studies herein find that the availability of force-rate cues improve compliance discriminability so as to require less deformation of stimulus and finger pad. In particular, we tested the impact of controlling force-rate and displacement-rate cues in passive touch psychophysical experiments. An ink-based method to mark the finger pad was used to measure contact area per stimulus, simultaneously with displacement and force. Compliances spanned a range harder and softer than the finger pad. The results indicated harder compliances were discriminable at lower peak forces when the stimulus control mode was displacement-rate (0.5 N) compared to force-rate (1.3 N). That is, when displacement-rate was controlled to be equal between the two compliances, the resultant force-rate psychophysical cues could be more readily discriminated. In extending prior studies, while some magnitude of finger pad deformation may be sufficient for discriminability, temporal cues tied to force afford more efficient judgments.