Perceived hardness by tapping: The role of a secondary mode of vibration

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

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

3 Citations (Scopus)


Humans can discriminate among the hardness of objects by tapping their surfaces. The damped natural vibration caused by tapping and its frequency are known to be the cue for the perception of hardness. This study is an investigation of the characteristics of this perception of hardness, as induced by vibration stimuli including multiple frequency components. We performed a comparative experiment using several damped vibration stimuli, which included either one or two frequency components, and investigated the significance of the secondary vibration mode and the change in its frequency. We found that the presence of the secondary mode significantly enhanced the perceived hardness; however, its frequency had a lesser effect on hardness perception.

Original languageEnglish
Title of host publicationHaptic Interaction - Science, Engineering and Design
EditorsShoichi Hasegawa, Masashi Konyo, Ki-Uk Kyung, Takuya Nojima, Hiroyuki Kajimoto
PublisherSpringer Verlag
Number of pages6
ISBN (Print)9789811041563
Publication statusPublished - 2018
Event2nd international conference, AsiaHaptics 2016 - Chiba, Japan
Duration: 2016 Nov 292016 Dec 1

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference2nd international conference, AsiaHaptics 2016


  • Frequency
  • Hardness perception
  • Tapping
  • Vibration


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