Next generation robots are expected to assist humans by means of tactile sensing technologies. Relationships between physically measured values of fabrics with a friction sense tester KES-SE-SR-U (KATO TECH, Japan) and human friction sensations were evaluated. MIU (average friction coefficient), MMD (average deviation of friction coefficient) and SMD (average deviation of surface roughness) were measured with the friction sense tester. It was found that there were good correlations between the MIU, MMD, and SMD and sensual expressions, “Soft Feel”, “Rough Feel”, and “Uneven Feel”, respectively. Especially in “Soft Feel” fabrics, the measured MIUs were increased with an increase of sensual strength of the “Soft feel” of the fabrics. The subductions of the z-axis head of the tester to the fabrics were increased with an increase of sensual strength of the “Soft Feel”. The fabric fuzz brings on the subduction of the head and increasing of the MIUs. The MIUs were increased with fabric fuzz length and density. The sensual strengths of the “Soft Feel” were also increased with the fabric fuzz length and density. Therefore, it is thought that the “Soft Feel” is caused by fabric fuzz. The obtained relationships of feelings and physical values are important for the tactile sensing technologies and robot applications.
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