Haptic perception of real and virtual curvature

In this study we compared human discrimination performance for real and virtual curved shapes. To simulate a curved shape we used a device that could independently orient and elevate a moving surface that was in contact with an exploring finger. Thus, the geometry was preserved up to the first order in the virtual shape. In our experiment we found that this preservation was indeed sufficient: discrimination thresholds were similar for the real and virtual conditions. Our results were also in line with previous curvature studies performed with real stimuli