Is it possible to perceive the shape of an object without exploring it?

The deformation of the fingerpads along the contact surfaces in a real grasp provides local information about the shape of the object, which is crucial for the stability of the grasp. Several experiments were performed to investigate whether it was possible to transmit information about the shape of a virtual object grasped via a singlecontact haptic interface, in spite of the fact that thimbles prevent the deformation of the fingerpads. To that end, we modified the classic god-point algorithm by using a pseudo-ellipsoidal force field that provides information about the object’s shape by increasing the compliance along the normal or tangential direction. The position of the god-point was held fixed during the whole contact. The main finding was that participants could identify the orientation of the contact surface when the compliance was maximum in the tangential plane by using small exploratory movements allowed by the contact model.