Visual Feedback Weakens the Augmentation of Perceived Stiffness by Artificial Skin Stretch

Mor Farajian, Raz Leib, Hanna Kossowsky, Ilana Nisky

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


Tactile stimulation devices are gaining popularity in haptic science and technology - they are lightweight, low-cost, can be wearable, and do not suffer from instability during closed loop interactions with users. Applying tactile stimulation, by means of stretching the fingerpad skin concurrently with kinesthetic force feedback, has been shown to augment the perceived stiffness during interactions with elastic objects. However, to date, the perceptual augmentation due to artificial skin-stretch was studied in the absence of visual feedback. In this article, we tested whether this perceptual augmentation is robust when the stretch is applied in combination with visual displacement feedback. We used a forced-choice stiffness discrimination task with four conditions: force feedback, force feedback with skin-stretch, force and visual feedback, and force and visual feedback with skin-stretch. We found that the visual feedback weakens, but does not eliminate, the skin-stretch induced perceptual effect. Additionally, no effect of visual feedback on the discrimination precision was found.

Original languageEnglish
Pages (from-to)686-691
Number of pages6
JournalIEEE Transactions on Haptics
Issue number3
StatePublished - 1 Jul 2021


  • Artificial skin-stretch
  • force feedback
  • stiffness perception
  • tactile stimulation
  • visual feedback

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Computer Science Applications


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