Pressing movements and perceived force and displacement are influenced by object stiffness

Despite many previous studies on stiffness perception, few have investigated the exploratory procedures involved. This study evaluated whether stiffness range influences pressing movements and perception of force and displacement during stiffness discrimination tasks. Force and displacement data were obtained from 30 participants. Peak values of force and displacement, pressing duration and number of presses were analyzed. Two kinds of subjective evaluations were also recorded: perceived difference in force/displacement used to discriminate between specimens, and perceived effort. Although the number of presses and pressing duration were constant across a wide stiffness range, pressing strength was adjusted for the stiffness of objects, with harder specimens pressed more strongly. Further, even if the stiffnesses of two compared specimens were different, the pressing forces applied to the specimens approached the same magnitude at a higher stiffness range. Differences in force were most easily perceived at lower stiffness ranges, while displacement differences were perceived more readily at higher stiffness ranges. These results were consistent with those of previous studies. Finally, the reasons why stiffness range influenced pressing movements and perceived differences in force/displacement are discussed.