Active touch provides crucial information while performing daily tasks. Imagine choosing a fruit with a specific softness during shopping and how you indent it. It is known that humans tune their exploratory movements to gather the most relevant information. In this process, prior information can guide exploratory behaviour. In softness discrimination, e.g., people apply higher forces to harder (but not softer) objects when they expect to explore stimulus pairs from the same compliance category in a longer block (hard or soft only), and this improves performance. However, such implicit force tuning does not occur for shorter predictable sequences (alternating series of 2 pairs, Drewing & Zoeller, 2021). Here, we investigated when and how implicit prior information becomes accessible for exploratory control. Participants were presented with series of hard or soft stimulus pairs with lengths of 2, 4 or 6 pairs. In predictable blocks same length series of hard and soft pairs alternated. In unpredictable blocks, series lengths occurred in random order. In each trial participants indicated the softer stimulus. We analysed the initial indentation force, because effects here indicate the use of prior information before sensory information is available. Participants applied more force to harder, but not to softer stimuli when the conditions allowed to predict the occurrence of a longer sequence of 6 hard trials as compared to an unpredictable or short sequence. This suggests that people implicitly tune their forces in few trials to improve their softness perception when they can anticipate properties of the upcoming stimuli.