Item

Abstract

Research has identified an inverted u-shaped relationship between the pleasantness of arm stroking and stroking velocity. However, the generalizability of this relationship is questionable as much of the work relied on the rotary tactile stimulator (RTS), which strokes skin with force varying along an arc and confounds stimulus velocity with duration. We explored how these parameters shape the subjective evaluation of touch. In Study 1, one group of participants was stroked by the RTS, while two other groups were stroked by a new robot capable of different stroking trajectories. Participants were stroked at five velocities and rated pleasantness, humanness, intensity, and roughness. In Study 2, participants were stroked by the new robot imitating the trajectory of the RTS exactly, imitating it while controlling stimulus duration, or moving linearly or ovally with both constant force and duration. Participants rated pleasantness and humanness. Although stroke velocity was related to both pleasantness and humanness in an inverted u-shaped manner, stimulus trajectory modulated this relationship and the association between velocity and the other ratings. Together, our results clearly link stroking velocity to the perception of touch but highlight that this relationship is shaped by other physical parameters including touch duration and spatial pattern.