Table 1 Summary of existing multi-sensory datasets capturing tactile interactions.

²¹

Force and vibration

Slide

Bare finger

No

Private

HaTT¹³

Position, force, vibration and images

Slide

Sensorised probe

No

Public

¹⁴

Position, force, vibration and images

Teleoperation

Phantom haptic device

No

Private

²²

Position, Load and frictional forces

Slide

Bare finger

No

Private

¹⁵

Position, force, vibration and images

Slide

Sensorised probe

No

Private

¹⁸

Audio

Slide

Human finger

No

Private

CBSMR¹⁶

Position, force, vibration and images

Slide

Sensorised probe

Yes

Depreciated

HapTex³⁹

Position, force, vibration and images

Slide

Guided bare finger

No

Private

⁴⁰

Vibration and images

Slide

bare finger

No

Private

LMT¹⁷

Position, force, vibration audio and images

Slide

Sensorised probe + Bare finger

No

Public

Viper¹⁹

Images and vibration

Slide

Sensorised probe

Yes

Public

Sens3²⁵

Position, force, vibration, audio, temperature and images

Slide, press, tap

Bare finger

Yes

Public