Just as raw nerve signals become perception when processed by the brain, tactile data only become experience when decoded through models that reflect the logic of human perception. This is where software serves the engine of haptic intelligence: by inferring what the user feels, not just what the sensor detects, software bridges the mechanical interface and perceptual reality. By building psychophysical inference models that operate directly on afferent-level inputs, the software subsystem becomes capable of predicting what a user feels, selecting the optimal combination of cues for a given interaction, and continuously adapting in real-time. This marks a fundamental shift in haptics from controlling devices to understanding touch, paving the way for integrated systems that deliver sensations with the nuance, adaptability, and meaning of natural human touch.