Fingertip friction is a key component of tactile perception. In active tactile exploration, friction forces depend on the applied normal force and on the sliding speed chosen. We have investigated whether humans perceive the speed dependence of friction for textured surfaces of materials, which show either increase or decrease of the friction coefficient with speed. Participants perceived the decrease or increase when the relative difference in friction coefficient between fast and slow sliding speed was more than 20 %. The fraction of comparison judgments which were in agreement with the measured difference in friction coefficient did not depend on variations in the applied normal force. The results indicate a perceptual constancy for fingertip friction with respect to self-generated variations of sliding speed and applied normal force.
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