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Related Experiment Video

Updated: May 17, 2026

Quantitative Hardness Measurement by Instrumented AFM-indentation

Quantitative Hardness Measurement by Instrumented AFM-indentation

Published on: November 22, 2016

Haptic search for hard and soft spheres.

Vonne van Polanen¹, Wouter M Bergmann Tiest, Astrid M L Kappers

¹Helmholtz Institute, Utrecht University, Utrecht, The Netherlands. v.van.polanen@vu.nl

|October 12, 2012

Summary

This study shows that both hardness and softness are salient features in haptic perception. Participants could efficiently distinguish between textures in an active search task, demonstrating the importance of tactile properties.

Area of Science:

Psychology
Human-Computer Interaction
Robotics

Background:

Haptic perception plays a crucial role in object interaction and manipulation.
Understanding the salience of material properties like hardness and softness is essential for designing effective haptic feedback systems.

Purpose of the Study:

To investigate the salience of hardness and softness in an active haptic search task.
To determine how differences in compliance affect search strategies and reaction times.
To explore the influence of target-distractor relationships and display configurations on haptic search performance.

Main Methods:

Two experiments were conducted with blindfolded participants performing active haptic search tasks.
Experiment 1 involved grasping bundles of spheres with varying compliance differences to find a target.

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Quantitative Hardness Measurement by Instrumented AFM-indentation

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Experiment 2 involved pressing a hand onto a display of hard and soft items.

Main Results:

In Experiment 1, small compliance differences led to serial search, while large differences allowed for parallel search.
In Experiment 2, searching for a soft target showed increased reaction times with item number, influenced by spatial layout.
Searching for a hard target in Experiment 2 did not depend on the number of items, indicating efficient detection.

Conclusions:

Both hardness and softness are salient features in haptic perception.
The strategy employed (serial vs. parallel) depends on the compliance difference between targets and distractors.
Haptic search performance is influenced by material properties and task-specific factors.