Abstract
Humans can judge the hardness of an object by tapping its surface. To investigate physical indicators for estimating subjective hardness, we analyzed the short-time reaction force caused by tapping various types of objects. We focused on five indicators in the time domain, including the peak force value, peak time, duration, maximum increase rate, and impulse of the reaction force. A strong correlation was observed between the peak force value, peak time, duration, and maximum increase rate. We found that subjective hardness can be predicted by combining the peak force value and impulse of the reaction force. Results suggest that the hardness involving stiffness and damping factor of objects can be estimated from the reaction force caused by tapping objects. Especially, the former and latter are, respectively, associated with the peak force value and impulse of the reaction force.
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