Fig. 5

Left: CAD model of the Tactile Dictionary used as verification setup. It included five main solids: one sphere, two cylinders and two ellipses. The latter two are arranged in two orientations. The main parameters of the solids were 50 mm (equal to the diameter of the sphere, the smallest side of the cylinder and the minor axis of the ellipse) and 100 mm (equal to the largest side of the cylinder and the major axis of the ellipses). The height of all objects was 18 mm. Right: the real scenario in which one participant is exploring the Tactile Dictionary