Haptic data Acquisition for Perceived Roughness and Hardness of Texture

In this paper, we presented a method to acquire haptic data of texture and its corresponding roughness and hardness perceptions simultaneously. We carried a psychophysical experiment, in which subjects wearing a haptic ring with pressure and displacement sensors explore fabricated object combined with 5 springs and a texture board. We obtained a dataset labeled with perceived magnitude of roughness and harness, which provides valuable guidance to implementing haptic classifications using machine learning algorithms and improving the realism of haptic devices.