Fehlberg Maja, Monfort Eva, Saikumar Sairam, Drewing Knut, Bennewitz Roland
IEEE Trans Haptics. 2024 Oct-Dec;17(4):957-963. doi: 10.1109/TOH.2024.3493421. Epub 2024 Dec 19.
Fingertip friction is a key component of tactile perception. In active tactile exploration, friction forces depend on the applied normal force and on the sliding speed chosen. We have investigated whether humans perceive the speed dependence of friction for textured surfaces of materials, which show either increase or decrease of the friction coefficient with speed. Participants perceived the decrease or increase when the relative difference in friction coefficient between fast and slow sliding speed was more than 20%. The fraction of comparison judgments which were in agreement with the measured difference in friction coefficient did not depend on variations in the applied normal force. The results indicate a perceptual constancy for fingertip friction with respect to self-generated variations of sliding speed and applied normal force.
指尖摩擦力是触觉感知的关键组成部分。在主动触觉探索中，摩擦力取决于所施加的法向力以及所选择的滑动速度。我们研究了人类是否能感知材料纹理表面摩擦力对速度的依赖性，这些表面的摩擦系数会随速度增加或减小。当快速和慢速滑动速度之间的摩擦系数相对差异超过20%时，参与者能够感知到减小或增加。与测量得到的摩擦系数差异相符的比较判断比例并不取决于所施加法向力的变化。结果表明，对于指尖摩擦力，相对于自我产生的滑动速度和所施加法向力的变化，存在一种感知恒常性。
