Yes indeed. That would be a density estimation and possibly texture.
What’s fascinating is how it’s a “weird” sensation to us. That is, our brains have a strange time interpreting what’s going on as areas of the 2D-wrap-around hand are activated simultaneously. Pinching we’re used to but something like a can of baked beans is an odd sensation, resulting in laughing or a yuck sensation or maybe even comfort – but it’ll be a reaction.