Interaction forces reflect the perception of texture during active exploration

AO_SCPLOWBSTRACTC_SCPLOWWe are constantly exploring the world around us through touch. Active touch depends on coordination of movement and force, yet the forces used during natural exploration and their relationship with perception is largely unexplored. Here we measured exploration forces together with fingertip motion while 17 participants explored 14 textures and rated their perceived hardness, slipperiness, or roughness. Exploration strategies differed systematically across tasks: hardness judgments involved relatively stationary pressing with larger and more variable normal forces, whereas slipperiness and roughness judgments relied more on sweeping movements. Within tasks, interaction forces covaried with perceptual ratings: harder textures elicited larger maximum tangential forces, consistent with diagonal pressing, while more slippery textures were explored with faster fingertip motion and lower forces. Estimated dynamic friction was negatively correlated with perceived slipperiness but not roughness. At the same time perceived roughness was strongly related to vibrations in the force, indicating distinct physical bases for these perceptual dimensions. These results show that humans actively tailor contact mechanics to perceptual goals during active exploration, supporting a sensorimotor account of texture perception. SO_SCPLOWIGNIFICANCEC_SCPLOWO_SCPCAP C_SCPCAPO_SCPLOWSTATEMENTC_SCPLOWTouch is usually studied as if the skin passively receives information, but in everyday life we actively move and press against objects to recognize them and learn what they feel like. This study measured both fingertip motion and contact forces while people freely explored textures and judged hardness, slipperiness, and roughness - the three of the most salient dimensions of tactile experience. The results show that people adjust how they move and press depending on what they want to perceive, and that different physical signals - friction and vibration - support different texture judgments. This work helps explain touch as an active sensorimotor process, with implications for neuroscience, haptics, robotics, and neuroprosthetics.