Surfaces

Discover our collection of high-quality materials, organized into 10 distinct material categories.

Simply click on a category to browse and download the texture data.

Metadata is available at the end of this page.

Every thermal measurement contains the following data: contact forces and torques, index finger temperature and heat flux between the middle finger and material. 

The data was recorded for 60 seconds at 100 Hz sampling frequency.

forces.csv → contact forces and torques in 6 columns - Fx, Fy, Fz, Tx, Ty, Tz [N and Nmm]

temperature.csv → index finger temperature [°C]

heatflux.csv → heat flux between middle finger and material [W/m2 ]

Every compliance measurement contains the following data: contact forces and torques, position of the linear stage, side and top view videos. 

One recording lasted 12 seconds. The force/torque data was recorded in 10 kHz, stage position in 10Hz, and videos in 44 FPS.

forces.csv → contact forces and torques in 6 columns - Fx, Fy, Fz, Tx, Ty, Tz [N and Nmm]

stageposition.csv → position of the linear stage [mm]

video(num)_1_2mms.mp4 → side view video, where (num) is the material number

video(num)_2_2mms.mp4 → top view video, where (num) is the material number

Every tapping measurement contains the following data: contact forces and torques, accelerations, side and top view videos, and audio data. 

One recording with 6 taps lasted 5 seconds. The force/torque and acceleration data was recorded in 10 kHz, audio data in 44.1 kHz, and videos in 44 FPS.

forces.csv → contact forces and torques in 6 columns - Fx, Fy, Fz, Tx, Ty, Tz [N and Nmm]

accelerations.csv → accelerations in 3 columns, Ax, Ay and Az [g]

audio.wav → audio data

video(num)_1.mp4 → side view video, where (num) is the material number

video(num)_2.mp4 → top view video, where (num) is the material number

Every sliding measurement contains the following data: contact forces and torques, accelerations, positions and speed data, top view videos, and audio data. 

The force/torque and acceleration data was recorded in 10 kHz, audio data in 44.1 kHz, position and speed data in 60Hz, and videos in 44 FPS.

Material_sensor_(num).csv → contact forces and torques in 6 columns - Fx, Fy, Fz, Tx, Ty, Tz [N and Nmm]

accelerations in 3 columns, Ax, Ay and Az [g], where (num) is the material number

Material_IR_pos_(num).csv → 4 columns of data - Elapsed Time, Speed, Position X, Position Y, where (num) is the material number

Material_(num).mp4 → top view video, where (num) is the material number

Material_(num).wav → audio data of the sliding experiment, where (num) is the material number

Every sensation measurement contains the following data: Surface order, sensation rating, and isometric view video. 

The surfaces were presented to the participants in random order. The sensation ratings are recorded in ascending order based on the material number. The ratings are based on eight opposing surface adjectives. Each adjective rating pair has fifteen divisions. The videos are recorded at 44 FPS.

Order_par(num).csv                 → Each column represents a material number.

Ratings_par(num).csv       →     8 columns of data - Rough/smooth, Flat/bumpy, Sticky/slippery, Hot/cold, Regular/irregular, Fine/coarse, Hard/soft, and Wet/Dry, where (num) is the material number

Video(num).mp4       → Isometric view video, where (num) is the material number

material(num).tif → top view image of the material, where (num) is the material number

thickness.csv → thickness of the materials [mm]