Kinaesthetic and cutaneous contributions to the perception of compressibility

W. M. Bergmann Tiest, A.M.L. Kappers

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

45 Citations (Scopus)


Compressibility or hardness of objects is an important aspect in haptic perception. Both cutaneous and kinaesthetic information are used for the perception of compressibility. In this paper, the relative role of these contributions is investigated. This is done with psychophysical experiments using a purpose-made silicon rubber stimulus set. The fabrication and characterisation of the stimuli are described, as well as discrimination experiments with and without surface deformation of the stimuli. With the cutaneous cues of surface deformation present, the Weber fraction for hardness discrimination was 0.12. When surface deformation was removed and only kinaesthetic cues were available, the Weber fraction doubled, suggesting that the cutaneous sense contributes almost three quarters to hardness perception, and the kinaesthetic just over one quarter, if the information is integrated in a statistically optimal fashion.
Original languageEnglish
Title of host publicationHaptics: perception, devices and scenarios
Subtitle of host publication6th International Conference, EuroHaptics 2008 Madrid, Spain, June 10-13, 2008 Proceedings
EditorsM. Ferre
Place of PublicationBerlin
Number of pages10
ISBN (Electronic)978-3-540-69057-3
ISBN (Print)978-3-540-69056-6
Publication statusPublished - 2008
Externally publishedYes
Event6th EuroHaptics Conference 2008 - Madrid, Spain
Duration: 10 Jun 200813 Jun 2008

Publication series

NameLecture Notes in Computer Science (LNCS)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference6th EuroHaptics Conference 2008


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