Inoue et al., Surfaces with finger-sized concave feel softer, IEEE Haptics Symposium 2022
Channel: IEEE Haptics Symposium
Date: 2022-03-15

K. Inoue, S. Okamoto, Y. Akiyama, Y. Yamada, Surfaces with finger-sized concave feel softer, Proceedings of IEEE Haptics Symposium 2022, 
The judgment of elastic softness is determined not only by mechanical parameters related to hardness, such as the elastic modulus and stiffness, but also by macroscopic surface features. This study experimentally demonstrates that objects with a finger-sized concave with a depth of 1—3 mm feel softer than flat surfaces made of the same materials when they are pushed by a finger. In Experiment 1, participants judged the surfaces of a rigid material with thumb-sized concaves to be softer than the flat and convex surfaces. Experiment 2 used rubbers of various elastic moduli, and the softness of a concave object with a Young’s modulus of 0.55 MPa was subjectively equal to that of a flat object with an average Young’s modulus of 0.23 MPa. Furthermore, the softness of a convex object was subjectively equal to that of a 1.68 MPa flat object. The contact phenomena between a finger pad and concave or convex objects are different from those between a finger pad and flat objects, and they influence the softness judgment. Such phenomena include the relationship between the pressing force and contact area. These results provide insights into surface design and improve comprehension of the perceptual principles of softness. 
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