Operators can discriminate remote object stiffness using only force and displacement haptic feedback from a teleoperated robot hand, with displacement feedback offering a small, not consistently significant, advantage for similar-stiffness objects.
From teleoperation to autonomous robot-assisted microsurgery: A survey,
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Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation
Operators can discriminate remote object stiffness using only force and displacement haptic feedback from a teleoperated robot hand, with displacement feedback offering a small, not consistently significant, advantage for similar-stiffness objects.