Force can overcome object geometry in the perception of shape through active touch

By Gabriel Robles-De-La-Torre, V. Hayward. Nature, 2001

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Tactile and haptic perceptual organization (2015, background): “Curvature perception induced by force Robles-De-La-Torre and Hayward (2001) designed a haptic device with which they could combine a geometric stimulus presentation with a horizontal force profile.”
Haptic interfaces and devices (2004, background): “The main types of consumer market devices include gamepads with vibro-tactile feedback (rumble) and even true force feedback, tactile mice, force feedback trackballs, and force feedback joysticks (Rosenberg, 2001).”
Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives (2017, neutral): “Indeed, it has been shown that it is possible to overcome shape cues of a real surface by modifying the associated lateral-only forces during interaction [47].”