Recording Setups
Physical Data Recording Setup and Procedures
Recording Setup
Through carefully designed study, we employed a vast array of sensors and actuators to capture tactile, visual, and audio cues.
Machine Vision Cameras
NI Data Acquisition Card
Heat-flux sensor and Thermistor
Microphone
Motorized Linear Stage with Custom-Made Hand Support
Infrared Position Sensor
Arm Support
Force Sensor with Texture Sample Station
Accelerometer
Texture Samples
Hardware List
Force Sensor Nano17 Titanium SI-16-0.1, ATI Industrial Automation
Accelerometer ADXL 356 BEZ, Analog Devices
Data Acquisition Board PCIe-6323, National Instruments
Infrared Position Sensor NNAMC1580PCEV, Neonode Inc.
Microphone AT2020USB+, Audio-Technica
Thermistor 23Fu3122-07U015, Semitec
Heat Flux Sensor FHF05-15X30, Hukseflux
Motorized Linear Stage NRT100/M, Thorlabs Inc.
Stepper Motor Controller BSC201, Thorlabs Inc.
Camera Alvium 1800 U-508c, Allied Vision
Camera Lens 16mm C Series Fixed Focal Length Lens, Techspec, Edmund Optics
LED Ring Light EFFI-RING, Effilux
Aluminum Breadboard MB60120/M, Thorlabs Inc.
Camera and Microphone Arrangement
Recording Procedures
Our objective was to comprehensively represent the multi-sensory aspects of bare finger-surface interactions. We employed five distinct exploratory procedures during the data collection: static contact, pressing, tapping, and sliding.
Static Contact
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.
Pressing
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.
Tapping
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.
Sliding
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.
Graphical User Interface for Sliding Interaction
Perceptual Data Recording Setup and Procedures
Recording Setup
To record the sensation felt by participants during finger-surface exploration, we employed a custom setup with a single camera to capture the isometric view of the exploration.
Machine Vision Camera and Stand
Texture Sample
Camera Arrangement
Recording Procedures
Our objective was to record the different sensations felt by the participants during finger-surface exploration. For this, we asked the participants to freely explore the surface using all three senses (Visual, audio, and tactile). While participants could choose any exploration strategy, we encouraged incorporating the four specified exploratory methods for accurate surface assessment.
Free Exploration
To record the haptic psychophysical sensations felt by the participants during finger-surface interaction, we asked participants to rate their sensations based on eight opposing surface descriptors. The surface descriptor pairs were presented to subjects as eight sliders with 15 points. Here, participants freely explored the surface using all three senses (visual, audio, and tactile).