Tactile psychophysical tests were conducted on different surfaces to observe the regulating behavior of human beings. Subsequently, friction induced vibration on textile fabrics was investigated using an artificial finger experimental setup capable of maintaining a constant preload on the substrate. To obtain the constant preload, three different types of controllers were implemented and compared. Kinematic experiments were conducted for repetitive fabric textures with different normal loads and velocities to find the friction force maps. The constant preloading experiments revealed the dominant frequency of the textile pattern and were capable of filtering the other frequencies. Moreover, the artificial finger was able to detect a spatial texture pattern with an error of less than 4.4%, as compared to the values derived from image processing.