Textural Feelings of Simulated Stick-Slip Phenomena via Stylus

Friction is a key factor in determining surface texture, but the influence of frictional vibrations or stick-slip phenomena on texture perception remains insufficiently explored. This study simulated virtual surfaces inducing stick-slip phenomena using a stylus-based commercial haptic interface. Virtual surfaces with varying static and dynamic friction coefficients were evaluated by 12 participants, who rated the friction, roughness, stickiness, hardness, and pleasantness of the surfaces using the Semantic Differential method. Multiple regression analysis, with friction parameters as explanatory variables and subjective ratings as response variables, revealed the following insights: An increase in the static friction coefficient significantly enhanced perceived friction, roughness, and stickiness while reducing the pleasantness experienced when sliding across the surfaces. An increase in the kinetic friction coefficient influenced only roughness perception, leading to a decrease in roughness ratings. Interestingly, an increase in kinetic friction did not enhance the perception of friction or stickiness during stick-slip vibration. The difference between static and kinetic friction coefficients significantly increased roughness ratings. These findings indicate that while the static friction coefficient primarily influences the evaluation of virtual surface textures, the kinetic friction coefficient and the difference between the two coefficients also contribute to determining certain perceived surface characteristics. This study enhances our understanding of the perceptual effects of dynamic frictional vibrations.