To conduct thermal measurements, a 3D-printed frame holds a heat flux sensor, and a thermistor is attached to the index fingertip. The thermistor measures the contact temperature by being in contact with the index finger, while the heat flux sensor, positioned under the middle finger, measures the heat transfer between the material and the finger. The initial temperatures of the material samples are measured using an infrared thermometer. 

We assessed material compliance by measuring the force-indentation depth relationship when applying pressure with the index finger. We used a custom-made 3D-printed hand support, ensuring a consistent contact angle and finger position. The hand support was mounted on a motorized linear stage for controlled indentation velocity, with normal forces recorded by a force sensor and indentation depth determined by the position data of the stage. We also recorded videos both from the side and top views. 

Six tapping transients were measured. We measured accelerations using a custom-built analog accelerometer board attached to the participants' index fingernail. Force, torque, and acceleration data were collected using a data acquisition board. In addition, audio signals were captured using a cardioid condenser microphone. Both top and side view videos of the interactions were recorded. 

For measuring acceleration during sliding, a custom-built three-axis analog accelerometer board is attached to the participants' index fingernail while sliding on the material surface. Force, torque, and acceleration data are collected using a data acquisition board. The finger position is tracked using an infrared position sensor. Furthermore, audio signals were captured using a cardioid condenser microphone, positioned near the interaction area to capture sound primarily from that direction. Top view videos are also recorded.