Experimental validation of a psychophysical conjecture on a simplified model of the haptic perceptual channel

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficult and costly. In this paper we discuss a simplified model of haptic detection of softness, whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted. We provide a rather thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

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