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Abstract Trial-by-trial texture classification analysis and identifying salient texture related EEG features during active touch that are minimally influenced by movement type and frequency conditions are the main contributions of this work. A total of twelve healthy subjects were recruited. Each subject was instructed to use the fingertip of their dominant hand’s index finger to rub or tap three textured surfaces (smooth flat, medium rough, and rough) with three levels of movement frequency (approximately 2, 1 and 0.5 Hz). EEG and force data were collected synchronously during each touch condition. A systematic feature selection process was performed to select temporal and spectral EEG features that contribute to texture classification but have low contribution towards movement type and frequency classification. A tenfold cross validation was used to train two 3-class (each for texture and movement frequency classification) and a 2-class (movement type) Support Vector Machine classifiers. Our results showed that the total power in the mu (8–15 Hz) and beta (16–30 Hz) frequency bands showed high accuracy in discriminating among textures with different levels of roughness (average accuracy > 84%) but lower contribution towards movement type (average accuracy < 65%) and frequency (average accuracy < 58%) classification.