Interpersonal touch is an important channel of social emotional interaction. How these physical skin-to-skin touch expressions are processed in the peripheral nervous system is not well understood. From microneurography recordings in humans, we evaluated the capacity of six subtypes of cutaneous mechanoreceptive afferents to differentiate human-delivered social touch expressions. Leveraging statistical and classification analyses, we found that single units of multiple mechanoreceptive Aβ subtypes, especially slowly adapting type II (SA-II) and fast adapting hair follicle afferents (HFA), can reliably differentiate social touch expressions at accuracies similar to human recognition. We then identified the most informative firing patterns of SA-II and HFA afferents, which indicate that average durations of 3-4 s of firing provide sufficient discriminative information. Those two subtypes also exhibit robust tolerance to spike-timing shifts of up to 10-20 ms, varying with touch expressions due to their specific firing properties. Greater shifts in spike-timing, however, can change a firing pattern's envelope to resemble that of another expression and drastically compromise an afferent's discrimination capacity. Altogether, the findings indicate that SA-II and HFA afferents differentiate the skin contact of social touch at time scales relevant for such interactions, which are 1-2 orders of magnitude longer than those for non-social touch.

This work seeks to design and evaluate haptic feedback for sequential gestural inputs, where mid-air hand gestures are used to express system commands. Nine haptic patterns are first designed leveraging metaphors. To pursue efficient interaction, we examine the trade-off between pattern duration and recognition accuracy and find that durations as short as 0.3s-0.5s achieve roughly 80%-90% accuracy. We then examine the haptic design for sequential inputs, where we vary when the feedback for each gesture is provided, along with pattern duration, gesture sequence length, and age. Results show that providing haptic patterns right after detected hand gestures leads to significantly more efficient interaction compared with concatenating all haptic patterns after the gesture sequence. Moreover, the number of gestures had little impact on performance, but age is a significant predictor. Our results suggest that immediate feedback with 0.3s and 0.5s pattern duration would be recommended for younger and older users respectively.