Description of the data and file structure

The individual data files are named according to the following naming convention: 'Fig[ASSOCIATED SUBFIGURE]_[DETAILS].csv'.

'[ASSOCIATED SUBFIGURE]` references the subfigure of the manuscript where the data is plotted. For example, data from Fig. 2, panel C is referenced by 'Fig2C'.

'[DETAILS]` refers to a designator describing the measurement object on which the hardness measurements were conducted or details about the measurement. For example, Fig. 2, panel C, contains data from six objects with different Shore hardnesses, so there are six data files related to this subfigure and [DETAILS] describes the Shore hardness of the object.

All files contain data about hardness measurements conducted with the smart glove. Each row contains the data from one individual hardness measurement.
In the experiments where a full surface scan was conducted (Fig. 2HJ and Fig. 3CD), the 3D surface point and the associated Δs/Δp slope is listed. In all other experiments, all pressure-distance data pairs of the individual hardness measurement and the resulting Δs/Δp slope are listed.

Units are not listed in the file headers. In all files, the following units are used:

• kPa for pressure values
• mm for position and distance values.
• mm/kPa for the listed Δs/Δp slopes. Please note that in all figures in the associated paper, the reciprocal of these values is used: Δp/Δs slopes with the unit kPa/mm.

List of all data files:

• Fig2C_Shore10OO.csv
• Fig2C_Shore20OO.csv
• Fig2C_Shore30OO.csv
• Fig2C_Shore50OO.csv
• Fig2C_Shore20A.csv
• Fig2C_Shore30A.csv
• Fig2E_Shore30OO_2p5mm.csv
• Fig2E_Shore30OO_5mm.csv
• Fig2E_Shore30OO_10mm.csv
• Fig2E_Shore30OO_15mm.csv
• Fig2E_Shore50OO_2p5mm.csv
• Fig2E_Shore50OO_5mm.csv
• Fig2E_Shore50OO_10mm.csv
• Fig2E_Shore50OO_15mm.csv
• Fig2H.csv
• Fig2J.csv
• Fig3C_150points.csv
• Fig3C_750points.csv
• Fig4D_5mmTumorModel.csv
• Fig4D_10mmTumorModel.csv
• Fig4D_15mmTumorModel.csv
• Fig4D_NoTumorModel.csv

Code/software

Data processing and figure creation was done using Python.

Human subjects data

Informed consent to conduct the torso hardness scan and publish the data was obtained from the participant