Tactual perception of material properties

This paper reviews tactual perception of material properties such as roughness, compliance, coldness and friction. Psychophysical functions relating physical properties to perception are discussed, as well as discrimination thresholds. Also, the neural codes mediating some of these sensations are discussed. Furthermore, we take a look into how sensation of these material properties can be induced artificially in haptic displays. Lastly, the interactions between perception of the different material properties are explored.