The article Affect Recognition in Hand-Object Interaction Using Object-sensed Tactile and Kinematic Data ( Niewiadomski R., Beyan C., Sciutti A.) has been published on IEEE Xplore.

" We investigate the recognition of the affective states of a person performing an action with an object, by processing the object-sensed data. iCube, a 5 cm cube, was used to collect tactile and kinematics data that consist of tactile maps  and rotations. The results  confirm that people touch objects differently when performing basic actions with different affective states and attitudes."