On the Effect of Vibration on Slip Perception During Bare Finger Contact

This study investigated the influence of the presence and timing of cutaneous vibration cues supplied to the finger pad on the perception of slip of a contact surface slid beneath it. We designed an apparatus that made it possible to supply precisely controlled shear force, sliding displacement and vibration cues to the finger pad via a moving surface. We conducted an experiment to assess the effect, if any, of the presence and timing of vibrotactile feedback presentation relative to slip onset on the perceived duration of slipping between the finger and the sliding surface. We found that vibrotactile stimuli that are presented at slip onset or during the slip phase both increased the perceived duration of slipping. In contrast, if the same cues are presented during the stick phase, they tended to decrease perceived slip duration. These results support a perceptual role for cutaneous vibrations felt in slip estimation, and indicate an opposite perceptual interpretation depending on their timing relative to slip onset.