• device
• haptic
• human-machine
• robotic
• tactile flow
• tactile illusions

The aims of this thesis are to prove the presence of tactile illusions when a subject slides the index finger on a surface wuth ridges at a certain orientation, prove that the human behaviuor in this task is the same of a Kalman filter behaviuor and to compute the weights of tactile flow and proprioception during the task, in fact during this task the perceived displacement of the hand is given by a weighted sum of tactile flow and proprioception.