) the main dimensions of touch and b) what are the qualities of each material?

I always end up at ROBOTS. But that’s ok.
SynTouch. There it is. It’s a commercial product but they’re gathering the information that I’m interested: a) the main dimensions of touch and b) what are the qualities of each material?
I want to know what nerves are activate for which function BUT this as a start will help. They have a database of thousands of materials too.
Macrotexture
Macrotexture (mTX) – The intensity of large features (>1mm spacing) that creates the perception of texture ranging from smooth to textured.
Macrotexture Coarseness (mCO) – The perceived spacing of large features (>1mm spacing), ranging from fine to coarse.
Macrotexture Regularity (mRG) – The perceived uniformity of large features, ranging from random to regular.
Microtexture
Microtexture Roughness (uRO) – The intensity of small features (<1mm spacing) that creates the perception of roughness ranging from smooth to rough
Microtexture Coarseness (uCO) – The perceived spacing of small features (<1mm spacing), ranging from fine to coarse.
Friction
Tactile Stiction (fST) – The effort required to initiate sliding on a surface, ranging from low grip to high grip.
Sliding Resistance (fRS) – The effort required to continue sliding over a surface, ranging from slippery to resistive.
Compliance
Tactile Compliance (cCM) – The degree that a surface deforms under pressure, from rigid to compliant.
Local Deformation (cDF) – The degree to which the surface wraps around the fingertip when being deformed, ranging stays flat to high wrap.
Damping (cDP) – The speed that a surface returns to its original shape after being deformed, ranging from springy to damped.
Relaxation (cRX) – The degree to which a surface stops pushing back after being deformed, ranging from maintains force to relaxes.
Yielding (cYD) – The degree to which a surface remains deformed after being pressed, ranging from recovers shape to stays deformed.
Thermal
Thermal Cooling (tCO) – The initial rate that a surface draws heat from the fingertip, ranging from warm to cool.
Thermal Persistence (tPR) – The extent that a surface continues to draw heat from the fingertip, ranging from transient cooling to sustained cooling.
Adhesive
Adhesive Tack (aTK) – The effort required to break contact with a surface, ranging from no adhesion to sticky.

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