Hardness perception by tapping: Effect of dynamic stiffness of objects

Kosuke Higashi, Shogo Okamoto, Yoji Yamada, Hikaru Nagano, Masashi Konyo

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

16 Citations (Scopus)


Humans can judge the hardness of an object by tapping its surface using a fingertip. The damped natural vibration caused by tapping is a vibrotactile cue for hardness perception. We investigated how dynamic characteristics of an object or vibration influence the hardness perceived by tapping. Using multivariate analyses, the subjectively reported hardness was linked with the dynamic stiffness of an object. Dynamic stiffness, which characterizes the impulsive response of an object, was acquired across 40-1,000 Hz for fourteen types of material cuboid through a hammering test. These blocks were also ranked by seven participants based on their hardness perceived when the participants tapped them with a finger. It was found that the dynamic stiffness did not equally affect the hardness perception across the wide frequency range. Its sensitivity displayed a peak around 200-400 Hz and decreased or disappeared at greater frequency bands in which human perceptual capability is limited.

Original languageEnglish
Title of host publication2017 IEEE World Haptics Conference, WHC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781509014255
Publication statusPublished - 2017 Jul 21
Event7th IEEE World Haptics Conference, WHC 2017 - Munich, Germany
Duration: 2017 Jun 62017 Jun 9

Publication series

Name2017 IEEE World Haptics Conference, WHC 2017


Conference7th IEEE World Haptics Conference, WHC 2017


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