Force can overcome object geometry in the perception of shape through active touch

@article{RoblesDeLaTorre2001ForceCO,
  title={Force can overcome object geometry in the perception of shape through active touch},
  author={Gabriel Robles-De-La-Torre and Vincent Hayward},
  journal={Nature},
  year={2001},
  volume={412},
  pages={445-448}
}
Haptic (touch) perception normally entails an active exploration of object surfaces over time. This is called active touch. When exploring the shape of an object, we experience both geometrical and force cues. For example, when sliding a finger across a surface with a rigid bump on it, the finger moves over the bump while being opposed by a force whose direction and magnitude are related to the slope of the bump. The steeper the bump, the stronger the resistance. Geometrical and force cues are… 

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