Extended Data Fig. 6: Roughness simulation related with the desired surface and the finger speed.
From: A skin-integrated multimodal haptic interface for immersive tactile feedback
a, The schematic diagram of the roughness simulation where finger processed on the desired surface with speed of v. b, The Von Mises Stress distribution when finger pressed on the surface composed of semi-circular SiC bulge (d = 269 µm) with pressure of 1kPa and sliding speed of 1 cm/s. c, The finger presses on three surfaces which composed of bulge of different curvature radius but has the same roughness with pressure of 1kPa and moving velocity of 1 cm/s. d, Stress curves of the finger feel when moving on three surfaces with same roughness but different morphology.
