Subjective Rating
To test whether different kinds of tactile stimulations impacted the perceived pleasantness, subjective ratings were analyzed by running a 2-way repeated-measures ANOVA with Hand type (Human vs. Artificial) and Touch type (Dynamic vs. Static) as within subject factors. Post-hoc analyses following significant main effects and interactions were performed by running two-tailed pairwise t-tests, and multiple comparisons were corrected using FDR. All p values < 0.05 were considered significant.