Artificial embodiment displaces cortical neuromagnetic somatosensory responses.

Integrating artificial limbs as part of one's body involves complex neuroplastic changes resulting from various sensory inputs. While somatosensory feedback is crucial, plastic processes that enable embodiment remain unknown. We investigated this using somatosensory evoked fields (SEFs) in the primary somatosensory cortex (S1) following the Rubber Hand Illusion (RHI), known to quickly induce artificial limb embodiment. During electrical stimulation of the little finger and thumb, 19 adults underwent neuromagnetic recordings before and after the RHI. We found early SEF displacement, including an illusion-brain correlation between extent of embodiment and specific changes to the first cortical response at 20 ms in Area 3b, within S1. Furthermore, we observed a posteriorly directed displacement at 35 ms towards Area 1, known to be important for visual integration during touch perception. That this second displacement was unrelated to extent of embodiment implies a functional distinction between neuroplastic changes of these components and areas. The earlier shift in Area 3b may shape extent of limb ownership, while subsequent displacement into Area 1 may relate to early visual-tactile integration that initiates embodiment. Here we provide evidence for multiple neuroplastic processes in S1-lasting beyond the illusion-supporting integration of artificial limbs like prostheses within the body representation.

A bioinspired tactile scanner for computer haptics.

Computer haptics (CH) is about integration of tactile sensation and rendering in Metaverse. However, unlike computer vision (CV) where both hardware infrastructure and software programs are well developed, a generic tactile data capturing device that serves the same role as what a camera does for CV, is missing. Bioinspired by electrophysiological processes in human tactile somatosensory nervous system, here we propose a tactile scanner along with a neuromorphically-engineered system, in which a closed-loop tactile acquisition and rendering (re-creation) are preliminarily achieved. Based on the architecture of afferent nerves and intelligent functions of mechano-gating and leaky integrate-and-fire models, such a tactile scanner is designed and developed by using piezoelectric transducers as axon neurons and thin film transistor (TFT)-based neuromorphic circuits to mimic synaptic behaviours and neural functions. As an example, the neuron-like tactile information of surface textures is captured and further used to render the texture friction of a virtual surface for "recreating" a "true" feeling of touch.

Resting-state functional connectivity involved in tactile orientation processing.

BACKGROUND: Grating orientation discrimination (GOD) is commonly used to assess somatosensory spatial processing. It allows discrimination between parallel and orthogonal orientations of tactile stimuli applied to the fingertip. Despite its widespread application, the underlying mechanisms of GOD, particularly the role of cortico-cortical interactions and local brain activity in this process, remain elusive. Therefore, we aimed to investigate how a specific cortico-cortical network and inhibitory circuits within the primary somatosensory cortex (S1) and secondary somatosensory cortex (S2) contribute to GOD. METHODS: In total, 51 healthy young adults were included in our study. We recorded resting-state magnetoencephalography (MEG) and somatosensory-evoked magnetic field (SEF) in participants with open eyes. We converted the data into a source space based on individual structural magnetic resonance imaging. Next, we estimated S1- and S2-seed resting-state functional connectivity (rs-FC) at the alpha and beta bands through resting-state MEG using the amplitude envelope correlation method across the entire brain (i.e., S1/S2-seeds × 15,000 vertices × two frequencies). We assessed the inhibitory response in the S1 and S2 from SEFs using a paired-pulse paradigm. We automatically measured the GOD task in parallel and orthogonal orientations to the index finger, applying various groove widths with a custom-made device. RESULTS: We observed a specific association between the GOD threshold (all P < 0.048) and the alpha rs-FC in the S1-superior parietal lobule and S1-adjacent to the parieto-occipital sulcus (i.e., lower rs-FC values corresponded to higher performance). In contrast, no association was observed between the local responses and the threshold. DISCUSSION: The results of this study underpin the significance of specific cortico-cortical networks in recognizing variations in tactile stimuli.

Bioinspired adaptable multiplanar mechano-vibrotactile haptic system.

Several gaps persist in haptic device development due to the multifaceted nature of the sense of touch. Existing gaps include challenges enhancing touch feedback fidelity, providing diverse haptic sensations, and ensuring wearability for delivering tactile stimuli to the fingertips. Here, we introduce the Bioinspired Adaptable Multiplanar Haptic system, offering mechanotactile/steady and vibrotactile pulse stimuli with adjustable intensity (up to 298.1 mN) and frequencies (up to 130 Hz). This system can deliver simultaneous stimuli across multiple fingertip areas. The paper includes a full characterisation of our system. As the device can play an important role in further understanding human touch, we performed human stimuli sensitivity and differentiation experiments to evaluate the capability of delivering mechano-vibrotactile, variable intensity, simultaneous, multiplanar and operator agnostic stimuli. Our system promises to accelerate the development of touch perception devices, providing painless, operator-independent data crucial for researching and diagnosing touch-related disorders.

Brain Encoding of Naturalistic, Continuous, and Unpredictable Tactile Events.

Studies employing EEG to measure somatosensory responses have been typically optimized to compute event-related potentials in response to discrete events. However, tactile interactions involve continuous processing of nonstationary inputs that change in location, duration, and intensity. To fill this gap, this study aims to demonstrate the possibility of measuring the neural tracking of continuous and unpredictable tactile information. Twenty-seven young adults (females, 15) were continuously and passively stimulated with a random series of gentle brushes on single fingers of each hand, which were covered from view. Thus, tactile stimulations were unique for each participant and stimulated fingers. An encoding model measured the degree of synchronization between brain activity and continuous tactile input, generating a temporal response function (TRF). Brain topographies associated with the encoding of each finger stimulation showed a contralateral response at central sensors starting at 50 ms and peaking at ∼140 ms of lag, followed by a bilateral response at ∼240 ms. A series of analyses highlighted that reliable tactile TRF emerged after just 3 min of stimulation. Strikingly, topographical patterns of the TRF allowed discriminating digit lateralization across hands and digit representation within each hand. Our results demonstrated for the first time the possibility of using EEG to measure the neural tracking of a naturalistic, continuous, and unpredictable stimulation in the somatosensory domain. Crucially, this approach allows the study of brain activity following individualized, idiosyncratic tactile events to the fingers.

Oscillatory cortico-cortical connectivity during tactile discrimination between dynamic and static stimulation.

Fine sensory modalities play an essential role in perceiving the world. However, little is known about how the cortico-cortical distinguishes between dynamic and static tactile signals. This study investigated oscillatory connectivity during a tactile discrimination task of dynamic and static stimulation via electroencephalogram (EEG) recordings and the fast oscillatory networks across widespread cortical regions. While undergoing EEG recordings, the subject felt an electro-tactile presented by a 3-dot array. Each block consisted of 3 forms of stimulation: Spatio-temporal (dynamic), Spatial (static), and Control condition (lack of electrical stimulation). The average event-related potential for the Spatial and Spatio-temporal conditions exhibited statistically significant differences between 25 and 75, 81 and 121, 174 and 204 and 459 and 489 ms after stimulus onset. Based on those times, the sLORETA approach was used to reconstruct the inverse solutions of EEG. Source localization appeared superior parietal at around 25 to 75 ms, in the primary motor cortex at 81 to 121 ms, in the central prefrontal cortex at 174 to 204 and 459 to 489 ms. To better assess spectral brain functional connectivity, we selected frequency ranges with correspondingly significant differences: for static tactile stimulation, these are concentrated in the Theta, Alpha, and Gamma bands, whereas for dynamic stimulation, the relative energy change bands are focused on the Theta and Alpha bands. These nodes' functional connectivity analysis (phase lag index) showed 3 distinct distributed networks. A tactile information discrimination network linked the Occipital lobe, Prefrontal lobe, and Postcentral gyrus. A tactile feedback network linked the Prefrontal lobe, Postcentral gyrus, and Temporal lobe. A dominant motor feedforward loop network linked the Parietal cortex, Prefrontal lobe, Frontal lobe, and Parietal cortex. Processing dynamic and static tactile signals involves discriminating tactile information, motion planning, and cognitive decision processing.

Tactile sensitivity alters textile touch perception.

Tactility plays a crucial role in our interactions with the physical world including our ability to differentiate textile textures and their associated comfort. There is an increasing focus on digitally interactive haptic experiences enabling consumers to feel virtual objects realistically. This could revolutionize how we experience textiles in e-commerce platform, virtual and augmented reality, and shape the future of textiles in the metaverse. In this study, we examined the impact of tactile sensitivity on touch perception of a large nonhomogeneous sample of 22 textile swatches. The tactile sensitivity was studied using four factors: assessors' "subject-matter expertise", "frequency of performing handiwork", "frequency of working with textiles", and "familiarity of textile textures". The participants noted their tactile assessment of eight touch attributes of textile swatches on a 5-point Likert scale. Through predictive modeling, we analyzed the effect of tactile sensitivity on participants' tactile assessment scores. Our key findings revealed that participants' tactile sensitivity significantly influenced their perception of the textile textures. Notably, the "frequency of working with textiles" had the most substantial impact on participants' tactile ratings followed by their familiarity with textile textures. Interestingly, the perceptual differences of isotropy attribute were significant in all the cases. Overall, there was no significant difference in the tactile ratings between textile experts and non-experts, except for nine occurrences, four of which were related to perceptual differences in roughness of the woven fabrics. Conversely, the two groups had no statistically significant differences at all in their perceptions of hairiness, scratchiness, and uniformity.

"Spicy Touch": Cross-modal associations between hand-feel touch and capsaicin-induced oral irritation.

The influence of extrinsic hand-feel touch cues on consumer experiences in food and beverage consumption is well established. However, their impact on trigeminal perception, particularly the oral irritation caused by capsaicin or spicy foods, is less understood. This study aimed to determine the existence of cross-modal associations between hand-feel touch and capsaicin-induced oral irritation. This study investigated whether these potential associations were driven by the sensory contributions of the hand-feel tactile materials (measured by instrumental physical parameters) or by affective responses (evaluated through hedonic scales and the self-reported emotion questionnaire, EsSense Profile®, by consumers). In our study, 96 participants tasted a capsaicin solution while engaging with nine hand-feel tactile materials, i.e., cardboard, linen, rattan, silicone, stainless steel, sandpaper (fine), sandpaper (rough), sponge, and towel. They subsequently rated their liking and emotional responses, perceived intensity of oral irritation, and the congruency between hand-feel tactile sensation and oral irritation. Instrumental measurements characterized the surface texture of the hand-feel tactile materials, which were correlated with the collected sensory data. The results revealed that unique cross-modal associations between hand-feel touch and capsaicin-induced oral irritation. Specifically, while sandpapers demonstrated high congruence with the sensation of oral irritation, stainless steel was found to be least congruent. These associations were influenced by both the common emotional responses ("active," "aggressive," "daring," "energetic," "guilty," and "worried") evoked by the hand-feel tactile materials and the capsaicin, as well as by participants' liking for the hand-feel tactile materials and the characteristics of the surface textures. This study provides empirical evidence of the cross-modality between hand-feel tactile sensations and capsaicin-induced oral irritation, opening new avenues for future research in this area.

Optimality of multisensory integration while compensating for uncertain visual target information with artificial vibrotactile cues during reach planning.

BACKGROUND: Planning and executing movements requires the integration of different sensory modalities, such as vision and proprioception. However, neurological diseases like stroke can lead to full or partial loss of proprioception, resulting in impaired movements. Recent advances focused on providing additional sensory feedback to patients to compensate for the sensory loss, proving vibrotactile stimulation to be a viable option as it is inexpensive and easy to implement. Here, we test how such vibrotactile information can be integrated with visual signals to estimate the spatial location of a reach target. METHODS: We used a center-out reach paradigm with 31 healthy human participants to investigate how artificial vibrotactile stimulation can be integrated with visual-spatial cues indicating target location. Specifically, we provided multisite vibrotactile stimulation to the moving dominant arm using eccentric rotating mass (ERM) motors. As the integration of inputs across multiple sensory modalities becomes especially relevant when one of them is uncertain, we additionally modulated the reliability of visual cues. We then compared the weighing of vibrotactile and visual inputs as a function of visual uncertainty to predictions from the maximum likelihood estimation (MLE) framework to decide if participants achieve quasi-optimal integration. RESULTS: Our results show that participants could estimate target locations based on vibrotactile instructions. After short training, combined visual and vibrotactile cues led to higher hit rates and reduced reach errors when visual cues were uncertain. Additionally, we observed lower reaction times in trials with low visual uncertainty when vibrotactile stimulation was present. Using MLE predictions, we found that integration of vibrotactile and visual cues followed optimal integration when vibrotactile cues required the detection of one or two active motors. However, if estimating the location of a target required discriminating the intensities of two cues, integration violated MLE predictions. CONCLUSION: We conclude that participants can quickly learn to integrate visual and artificial vibrotactile information. Therefore, using additional vibrotactile stimulation may serve as a promising way to improve rehabilitation or the control of prosthetic devices by patients suffering loss of proprioception.

Integrating vision and somatosensation does not improve the accuracy and response time when estimating area and perimeter of rectangles in primary school.

BACKGROUND: Problem-solving and learning in mathematics involves sensory perception and processing. Multisensory integration may contribute by enhancing sensory estimates. This study aims to assess if combining visual and somatosensory information improves elementary students' perimeter and area estimates. METHODS: 87 4th graders compared rectangles with respect to area or perimeter either solely using visual observation or additionally with somatosensory information. Three experiments targeted different task aspects. Statistical analyses tested success rates and response times. RESULTS: Contrary to expectations, adding somatosensory information did not boost success rates for area and perimeter comparison. Response time even increased with adding somatosensory information. Children's difficulty in accurately tracing figures negatively impacted the success rate of area comparisons. DISCUSSION: Results suggest visual observation alone suffices for accurately estimating and comparing area and perimeter of rectangles in 4th graders. IMPLICATIONS: Careful deliberation on the inclusion of somatosensory information in mathematical tasks concerning perimeter and area estimations of rectangles is recommended.

Interoceptive training with real-time haptic versus visual heartbeat feedback.

The perception of signals from within the body, known as interoception, is increasingly recognized as a prerequisite for physical and mental health. This study is dedicated to the development of effective technological approaches for enhancing interoceptive abilities. We provide evidence of the effectiveness and practical feasibility of a novel real-time haptic heartbeat supplementation technology combining principles of biofeedback and sensory augmentation. In a randomized controlled study, we applied the developed naturalistic haptic feedback on a group of 30 adults, while another group of 30 adults received more traditional real-time visual heartbeat feedback. A single session of haptic, but not visual heartbeat feedback resulted in increased interoceptive accuracy and confidence, as measured by the heart rate discrimination task, and in a shift of attention toward the body. Participants rated the developed technology as more helpful and pleasant than the visual feedback, thus indicating high user satisfaction. The study highlights the importance of matching sensory characteristics of the feedback provided to the natural bodily prototype. Our work suggests that real-time haptic feedback might be a superior approach for strengthening the mind-body connection in interventions for physical and mental health.

Interference haptic stimulation and consistent quantitative tactility in transparent electrotactile screen with pressure-sensitive transistors.

Integrating tactile feedback through haptic interfaces enhances experiences in virtual and augmented reality. However, electrotactile systems, which stimulate mechanoreceptors directly, often yield inconsistent tactile results due to variations in pressure between the device and the finger. In this study, we present the integration of a transparent electrotactile screen with pressure-sensitive transistors, ensuring highly consistent quantitative haptic sensations. These transistors effectively calibrate tactile variations caused by touch pressure. Additionally, we explore remote-distance tactile stimulations achieved through the interference of electromagnetic waves. We validated tactile perception using somatosensory evoked potentials, monitoring the somatosensory cortex response. Our haptic screen can stimulate diverse electrotactile sensations and demonstrate various tactile patterns, including Morse code and Braille, when integrated with portable smart devices, delivering a more immersive experience. Furthermore, interference of electric fields allows haptic stimulation to facilitate diverse stimulus positioning at lower current densities, extending the reach beyond direct contact with electrodes of our screen.

Late-term moderate prenatal alcohol exposure impairs tactile, but not spatial, discrimination in a T-maze continuous performance task in juvenile rats.

Existing maze apparatuses used in rodents often exclusively assess spatial discriminability as a means to evaluate learning impairments. Spatial learning in such paradigms is reportedly spared by moderate prenatal alcohol exposure in rats, suggesting that spatial reinforcement alone is insufficient to delineate executive dysfunction, which consistently manifests in humans prenatally-exposed to alcohol. To address this, we designed a single-session continuous performance task in the T-maze apparatus that requires rats to discriminate within and between simultaneously-presented spatial (left or right) and tactile (sandpaper or smooth) stimuli for food reinforcement across four sequential discrimination stages: simple discrimination, intradimensional reversal 1, extradimensional shift, and intradimensional reversal 2. This design incorporates elements of working memory, attention, and goal-seeking behavior which collectively contribute to the executive function construct. Here, we found that rats prenatally-exposed to alcohol performed worse in both the tactile intradimensional reversal and extradimensional shift; alternatively, rats prenatally-exposed to alcohol acquired the extradimensional shift faster when shifting from the tactile to spatial dimension. In line with previous work, moderate prenatal alcohol exposure spared specifically spatial discrimination in this paradigm. However, when tactile stimuli were mapped into the spatial dimension, rats prenatally-exposed to alcohol required more trials to discriminate between the dimensions. We demonstrate that tactile stimuli can be operantly employed in a continuous performance T-maze task to detect discriminatory learning impairments in rats exposed to moderate prenatal alcohol. The current paradigm may be useful for assessing features of executive dysfunction in rodent models of fetal alcohol spectrum disorders.

Zero-Biased Bionic Fingertip E-Skin with Multimodal Tactile Perception and Artificial Intelligence for Augmented Touch Awareness.

Electronic skins (E-Skins) are crucial for future robotics and wearable devices to interact with and perceive the real world. Prior research faces challenges in achieving comprehensive tactile perception and versatile functionality while keeping system simplicity for lack of multimodal sensing capability in a single sensor. Two kinds of tactile sensors, transient voltage artificial neuron (TVAN) and sustained potential artificial neuron (SPAN), featuring self-generated zero-biased signals are developed to realize synergistic sensing of multimodal information (vibration, material, texture, pressure, and temperature) in a single device instead of complex sensor arrays. Simultaneously, machine learning with feature fusion is applied to fully decode their output information and compensate for the inevitable instability of applied force, speed, etc, in real applications. Integrating TVAN and SPAN, the formed E-Skin achieves holistic touch awareness in only a single unit. It can thoroughly perceive an object through a simple touch without strictly controlled testing conditions, realize the capability to discern surface roughness from 0.8 to 1600 µm, hardness from 6HA to 85HD, and correctly distinguish 16 objects with temperature variance from 0 to 80 °C. The E-skin also features a simple and scalable fabrication process, which can be integrated into various devices for broad applications.

Disentangling Temporal and Rate Codes in the Primate Somatosensory Cortex.

Millisecond-scale temporal spiking patterns encode sensory information in the periphery, but their role in the neocortex remains controversial. The sense of touch provides a window into temporal coding because tactile neurons often exhibit precise, repeatable, and informative temporal spiking patterns. In the somatosensory cortex (S1), responses to skin vibrations exhibit phase locking that faithfully carries information about vibratory frequency. However, the respective roles of spike timing and rate in frequency coding are confounded because vibratory frequency shapes both the timing and rates of responses. To disentangle the contributions of these two neural features, we measured S1 responses as rhesus macaques performed frequency discrimination tasks in which differences in frequency were accompanied by orthogonal variations in amplitude. We assessed the degree to which the strength and timing of responses could account for animal performance. First, we showed that animals can discriminate frequency, but their performance is biased by amplitude variations. Second, rate-based representations of frequency are susceptible to changes in amplitude but in ways that are inconsistent with the animals' behavioral biases, calling into question a rate-based neural code for frequency. In contrast, timing-based representations are highly informative about frequency but impervious to changes in amplitude, which is also inconsistent with the animals' behavior. We account for the animals' behavior with a model wherein frequency coding relies on a temporal code, but frequency judgments are biased by perceived magnitude. We conclude that information about vibratory frequency is not encoded in S1 firing rates but primarily in temporal patterning on millisecond timescales.

Human tactile sensing and sensorimotor mechanism: from afferent tactile signals to efferent motor control.

In tactile sensing, decoding the journey from afferent tactile signals to efferent motor commands is a significant challenge primarily due to the difficulty in capturing population-level afferent nerve signals during active touch. This study integrates a finite element hand model with a neural dynamic model by using microneurography data to predict neural responses based on contact biomechanics and membrane transduction dynamics. This research focuses specifically on tactile sensation and its direct translation into motor actions. Evaluations of muscle synergy during in -vivo experiments revealed transduction functions linking tactile signals and muscle activation. These functions suggest similar sensorimotor strategies for grasping influenced by object size and weight. The decoded transduction mechanism was validated by restoring human-like sensorimotor performance on a tendon-driven biomimetic hand. This research advances our understanding of translating tactile sensation into motor actions, offering valuable insights into prosthetic design, robotics, and the development of next-generation prosthetics with neuromorphic tactile feedback.

An afferent nerve-like electronic device with somatic mechanical perception and sensation management.

Tactile and pain perception are essential for biological skin to interact with the external environment. This complex interplay of sensations allows for the detection of potential threats and appropriate responses to stimuli. However, the challenge is to enable flexible electronics to respond to mechanical stimuli such as biological skin, and researchers have not clearly reported the successful integration of somatic mechanical perception and sensation management functions into neuro-like electronics. In this work, an afferent nerve-like device with a pressure sensor and a perception management module is proposed. The pressure sensor comprises two conductive fabric layers and an ionic hydrogel, forming a capacitor structure that emulates the swift transition from tactile to pain perception under mechanical stimulation. Drawing inspiration from the neuronal "gate control" mechanism, the sensation management module adjusts signals in response to rubbing, accelerating the discharge process and reducing the perception duration, thereby replicating the inhibitory effect of biological neurons on pain following tactile interference. This integrated device, encompassing somatic mechanical perception and sensation management, holds promise for applications in soft robotics, prosthetics, and human-machine interaction.

Altered somatosensory processing in adult attention deficit hyperactivity disorder.

BACKGROUND: Tactile sensitivity and sensory overload in ADHD are well-documented in clinical-, self-, and parent- reports, but empirical evidence is scarce and ambiguous and focuses primarily on children. Here, we compare both empirical and self-report tactile sensitivity and ADHD symptomatology in adults with ADHD and neurotypical controls. We evaluate whether tactile sensitivity and integration is more prevalent in ADHD and whether it is related to ADHD symptom severity. METHODS: Somatosensory evoked potential (SEP) amplitudes were measured in 27 adults with ADHD and 24 controls during four conditions (rest, stroking of the own arm, stroking of the arm by a researcher, and stroking of an object). Participants also filled out questionnaires on tactile sensitivity and ADHD symptoms and performed a Qb-test as an objective measure of ADHD symptom severity. RESULTS: Participants with ADHD self-reported greater tactile sensitivity and ADHD symptom severity than controls and received higher scores on the Qb-test. These values correlated with one another. ADHD participants showed lower tolerable threshold for electrical radial nerve stimulus, and greater reduction in cortical SEP amplitudes during additional tactile stimuli which was correlated with ADHD symptoms. CONCLUSIONS: We find that ADHD symptomatology and touch sensitivity are directly linked, using both self-reports and experimental measures. We also find evidence of tactile sensory overload in ADHD, and an indication that this is linked to inattention specifically. Tactile sensitivity and sensory overload impact the functioning and life quality of many people with ADHD, and clinicians should consider this when treating their patients.

Multimodal tactile sensing fused with vision for dexterous robotic housekeeping.

As robots are increasingly participating in our daily lives, the quests to mimic human abilities have driven the advancements of robotic multimodal senses. However, current perceptual technologies still unsatisfied robotic needs for home tasks/environments, particularly facing great challenges in multisensory integration and fusion, rapid response capability, and highly sensitive perception. Here, we report a flexible tactile sensor utilizing thin-film thermistors to implement multimodal perceptions of pressure, temperature, matter thermal property, texture, and slippage. Notably, the tactile sensor is endowed with an ultrasensitive (0.05 mm/s) and ultrafast (4 ms) slip sensing that is indispensable for dexterous and reliable grasping control to avoid crushing fragile objects or dropping slippery objects. We further propose and develop a robotic tactile-visual fusion architecture that seamlessly encompasses multimodal sensations from the bottom level to robotic decision-making at the top level. A series of intelligent grasping strategies with rapid slip feedback control and a tactile-visual fusion recognition strategy ensure dexterous robotic grasping and accurate recognition of daily objects, handling various challenging tasks, for instance grabbing a paper cup containing liquid. Furthermore, we showcase a robotic desktop-cleaning task, the robot autonomously accomplishes multi-item sorting and cleaning desktop, demonstrating its promising potential for smart housekeeping.

Intrinsic sense of touch for intuitive physical human-robot interaction.

The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human. Through an intertwined combination of manifold learning techniques and artificial neural networks, the robot identified and interpreted those touch trajectories as machine-readable letters, symbols, or numbers. This opens up unexplored opportunities in terms of intuitive and flexible interaction between human and robot. Furthermore, we showed that our concept of so-called virtual buttons can be used to straightforwardly implement a tactile communication link, including switches and slider bars, which are complementary to speech, hardware buttons, and control panels. These interaction elements could be freely placed, moved, and configured in arbitrary locations on the robot structure. The intrinsic sense of touch we proposed in this work can serve as the basis for an advanced category of physical human-robot interaction that has not been possible yet, enabling a shift from conventional modalities toward adaptability, flexibility, and intuitive handling.