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The sense of touch is essential to perform discriminating tasks in virtual reality applications or virtual training systems. To discriminate between different virtual objects, a human operator needs to clearly perceive the stiffness of each object. Stiffness is not only a material property, but also a characteristic of the particular object and express how it is being touched. Stiffness affects the perception of surface topography and depends on the area of applied force. While haptic-enableddoi:10.5057/kei.11.199 fatcat:tycsqtmtwrckdiuyddpw3e7mvy