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The tactile perception of a surface texture is mediated by factors such as material, topography, and vibrations induced by the sliding contact. In this paper, sensory characterizations are developed together with topographical and tribo-tactile characterizations to relate perceived features with objective measurements of tribological and dynamic signals. Two sets of surface samples are used in this study: the first set is made of a commercial floor covering tiles that aim at counter-typing natural wood flooring, with both a visual and a tactile texture mimicking wood. A second set is custom-made by replicating the first set using a plain purple polyurethane resin. The comparison between tribo-tactile signals and sensory analysis allowed the identification of objective indices for textures with slight topographical differences. Even though the topography of the replicated samples is the same as their corresponding commercial products, the fact that the material is different, induces differences in the contact and vibrational parameters. This in turn modifies the discrimination performances during the sensory experiment. Tactile characteristics collected during sensory procedures are found to be in agreement with objective indices such as friction coefficients and induced vibrations.