Section: New Results
Microscopic aspects in the dynamic exploration of fine haptic textures.
For given exploration tasks of haptic textures, we found a random strategy in directed motion  . Measurement campaigns also allowed to conclude on a lack of consistent relationships between the texture relief and vibratory phenomena at contact    . This was explained by the tribologic complexity of touch at a microscopic scale induced by the presence of epidermal ridges. Even if macroscopic phenomena mainly explain perception, we suggest that it is important to consider the micromechanics of touch  . Thus, we showed the importance of the interlocking between surface states to perceive the fine texture  . To quantify the roughness intensity, we have to explore whether the shape of the skin texture conforms to the relief of the haptic texture in order to perceive the micro texture  : the fingerprint pattern justifies then the control of the voluntary motion. This feature applies in the case of fine texture. New design guidelines emerged for kinaesthetic and tactile displays  .