1. A tactile surface texture characterization method comprising: measuring at least one force perceived by a force sensor during a relative movement of the sensor with respect to a surface to be characterized; calculating one or more time and/or frequency parameters of an output signal transmitted by the sensor representative of the previously measured force; and determining a value of a tactile descriptor of multiple tactile descriptors through application of a continuous transfer function to the previously calculated parameters, wherein the transfer function is previously determined by regression from a learning database associating, for each descriptor, plural values of the tactile descriptor with plural values of one or more time and/or frequency parameters calculated from measurements made by the force sensor on multiple test surfaces representative of values of the tactile descriptor in question.