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Humans and robots can recognize materials with distinct thermal effusivitiesby making physical contact and observing temperatures during heat transfer.This works well with room temperature materials and humans and robots at humanbody temperatures. Past research has shown that cooling or heating a materialcan result in temperatures that are similar to contact with another material.To thoroughly investigate this perceptual ambiguity, we designed apsychophysical experiment in which a participant discriminates between twomaterials given ambiguous initial conditions. We conducted a study with 32human participants and a robot. Humans and the robot confused the materials. Wealso found that robots can overcome this ambiguity using two temperaturesensors with different temperatures prior to contact. We support thisconclusion based on a mathematical proof using a heat transfer model andempirical results in which a robot achieved 100% accuracy compared to 5% humanaccuracy. Our results also indicate that robots can use subtle cues todistinguish thermally ambiguous materials with a single temperature sensor.Overall, our work provides insights into challenging conditions for materialrecognition via heat transfer, and suggests methods by which robots canovercome these challenges to outperform humans.

Material Recognition via Heat Transfer Given Ambiguous Initial Conditions