Modeling workflow of predicting roughness perception produced by tactile stimuli. First, a multilayered finger mechanics model simulates the strain and change of strain at the mechanoreceptor locations. Next, their spatial variations are calculated by convolving them with Gabor filters. Finally, the areas under the curve are used as a measure of the average mechanoreceptor activation leading to roughness perception. The plots shown here are for an exemplary case for Device 2 with different phase differences.