The growing demand for natural interactions with technology underscores the importance of achieving realistic touch sensations in digital environments. Realizing this goal highly depends on comprehensive databases of finger-surface interactions, which need further development. Here, we present SENS3 -- www.sens3.net -- an extensive open-access repository of multisensory data acquired from fifty surfaces when two participants explored them with their fingertips through static contact, pressing, tapping, and sliding. SENS3 encompasses high-fidelity visual, audio, and haptic information recorded during these interactions, including videos, sounds, contact forces, torques, positions, accelerations, skin temperature, heat flux, and surface photographs. Additionally, it incorporates thirteen participants' psychophysical sensation ratings (rough-smooth, flat-bumpy, sticky-slippery, hot-cold, regular-irregular, fine-coarse, hard-soft, and wet-dry) while exploring these surfaces freely. Designed with an open-ended framework, SENS3 has the potential to be expanded with additional textures and participants. We anticipate that SENS3 will be valuable for advancing multisensory texture rendering, user experience development, and touch sensing in robotics.

翻译：随着对自然交互技术的需求日益增长，在数字环境中实现逼真触感的重要性愈发凸显。实现这一目标在很大程度上依赖于全面发展的手指-表面交互数据库。本文介绍SENS3——www.sens3.net——一个广泛开放存取的多感官数据库，收录了两位参与者通过静态接触、按压、敲击和滑动方式用指尖探索五十种表面时获取的多模态数据。SENS3包含交互过程中记录的高保真视觉、听觉与触觉信息，涵盖视频、声音、接触力、扭矩、位置、加速度、皮肤温度、热通量及表面显微图像。此外，数据库还整合了十三位参与者在自由探索这些表面时的心理物理感知评分（粗糙-光滑、平坦-起伏、粘滞-滑爽、热-冷、规则-不规则、细腻-粗糙、坚硬-柔软、湿润-干燥）。采用开放式架构设计的SENS3具备扩展更多材质样本与参与者的潜力。我们预期该数据库将推动多感官纹理渲染、用户体验开发及机器人触觉感知等领域的进步。