Subjective Rating
To test whether different kinds of tactile stimulations impacted the perceived pleasantness, subjective ratings were analyzed by means of a 2-way repeated-measures ANOVA with Touch type (CT-optimal vs. CT-suboptimal) and Hand type (Human vs. Artificial) 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 by means of FDR. All p values < 0.05 were considered significant.