Contents

4.1 Introduction

4.2 Research Background and Methodologies: Perceiving with the Bare Finger

4.2.1 Roughness Perception

4.2.1.1 Psychophysics

4.2.1.2 Neurophysiology

4.2.2 Common-Object Identification

4.3 Perceiving Surface Textures via Remote Touch

4.3.1 Effects of Surface Geometry: Interelement Spacing

4.3.2 Effects of Geometric Characteristics of the Probe: Probe-Tip Diameter

4.3.3 Effects of the Manual Exploration Process

4.3.3.1 Relative Speed of Motion

4.3.3.2 Mode of Touch

4.4 Identifying Common Objects Haptically via Remote Touch

4.5 Remote Touch in Medicine Acknowledgment References

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