A tactile surface texture characterisation method including at least the following steps: - measuring at least one force perceived by a force sensor during a relative movement of said sensor with respect to a surface to be characterised, - calculating one or more time and/or frequency parameters of an output signal transmitted by said sensor representative of the previously measured force, - determining a value of a tactile descriptor of multiple tactile descriptors through application of a continuous transfer function to the one or more previously calculated parameters, wherein the transfer function defines an interval of values of the tactile descriptor relative to an interval of values of the one or more previously calculated parameters and is previously determined by regression from a learning database associating, for each descriptor, several values of the tactile descriptor with several values of one or more time and/or frequency parameters calculated from measurements made by the force sensor on multiple test surfaces representative of values of the tactile descriptor in question, and in which the learning database is obtained through implementation, for each tactile descriptor, of the following steps: - measuring at least one force perceived by the force sensor during relative movements of said sensor with respect to several different surfaces representing several values of the tactile descriptor, - calculating several time and/or frequency parameters of the output signals transmitted by said sensor representative of the previously measured force, - generating the learning database by listing for each of the output signals transmitted by said sensor the values of the previously calculated parameters, and by associating them with the values of the tactile descriptor. - measuring at least one force perceived by a force sensor during a relative movement of said sensor with respect to a surface to be characterised, - calculating one or more time and/or frequency parameters of an output signal transmitted by said sensor representative of the previously measured force, - determining a value of a tactile descriptor of multiple tactile descriptors through application of a continuous transfer function to the one or more previously calculated parameters, wherein the transfer function defines an interval of values of the tactile descriptor relative to an interval of values of the one or more previously calculated parameters and is previously determined by regression from a learning database associating, for each descriptor, several values of the tactile descriptor with several values of one or more time and/or frequency parameters calculated from measurements made by the force sensor on multiple test surfaces representative of values of the tactile descriptor in question, - measuring at least one force perceived by the force sensor during relative movements of said sensor with respect to several different surfaces representing several values of the tactile descriptor, - calculating several time and/or frequency parameters of the output signals transmitted by said sensor representative of the previously measured force, - generating the learning database by listing for each of the output signals transmitted by said sensor the values of the previously calculated parameters, and by associating them with the values of the tactile descriptor.