Fig. 4. (a1) Illustration of convex and concave stimuli in contact with a single finger by st indentation profile on the finger. (a2) Static touch with different parts of the hand that co each contact point must be combined with information about the position of the finger in information sources when there is dynamic contact between the finger and a stimulus. (b1 The deformation depends on the direction of movement contact, as indicated by an arro (rotation), when the finger moves over the stimulus surface. In the example, the finger rem on the finger does not change. Besides, the finger displaces in the vertical direction, but th of the finger with respect to the stimulus surface can change when the finger moves ove finger does not rotate.
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