Altering Perceived Softness of Real Rigid Objects by Restricting Fingerpad Deformation
summary
A wearable device that hollow frame pulled by motor restricts fingerpad lateral deformation and makes rigid surfaces feel softer; it uses a pulley, force sensor and PID-controlled force loop with an nRF BLE PCB and leaves the center of fingerpad free. Psychophysics (staircase) tests show objects 50–90 Shore A are perceived around reduces perceived hardness to ~40 Shore A. Demonstrations include a wooden chopstick feeling like a pencil eraser and rigid 3D‑printed buttons feeling soft.
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