Humans have amazing fingertips. They are sensitive and can be moved over objects to feel its softness, texture, size and shape. These movements are both complex, and "task-specific". This means that you adopt different movements depending on what you want to feel about an object. We squeeze or push objects to judge softness, and feel around the edges of objects to judge size and shape. And if you wanted to feel the texture of an object, you would sweep your fingertips over the surface.