Cues for Haptic Perception of Compliance

@article{Tiest2009CuesFH,
  title={Cues for Haptic Perception of Compliance},
  author={Wouter M. Bergmann Tiest and Astrid M. L. Kappers},
  journal={IEEE Transactions on Haptics},
  year={2009},
  volume={2},
  pages={189-199}
}
For the perception of the hardness of compliant materials, several cues are available. In this paper, the relative roles of force/displacement and surface deformation cues are investigated. We have measured discrimination thresholds with silicone rubber stimuli of differing thickness and compliance. Also, the influence of the finger span is assessed. When compliance is expressed as the Young's modulus, the thresholds in the different conditions follow Weber's law with a Weber fraction of 15… 

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