Effects of surface texture on weight perception when lifting objects with a precision grip

In this paper, we show that, when lifting an object using a precision grip with the distal pads of the thumb and index finger at its sides, the perceived weight depends on the object’s surface texture. The smoother the surface texture, the greater the perceived weight. We suggest that a smoother object is judged to be heavier because the grip force, normal to the surface, required to prevent it from slipping is greater. The possibility of there being an influence of surface texture per se is excluded by a second experiment that employed a variant of the precision grip in which the thumb supports the weight of the object from underneath. With the grip oriented in this way, there is no need to match grip force to surface texture and, under these conditions, there is no effect of surface texture on weight perception. In the first two experiments, the test and comparison weights were lifted successively by the same hand. In a third experiment, the effect of surface texture was replicated for sequential lifts made with separate hands. Thus, the effect is not restricted to comparisons made with the same hand.     

Age-related changes in grip force and dynamics of hand movement

The authors investigated whether older adults (n = 16; mean age = 65 years) increased grip force to compensate for load force fluctuations during up and down movements more than young adults did (n = 16; mean age = 24 years) and whether older and young adults exhibited similar adaptation of grip force to alterations in friction associated with changes in object surface texture. As previously reported, older adults used a higher level of grip force than young adults during static holding. Increased grip force was observed in the older group during movement. The increase was appropriate to the lower coefficient of friction estimated for the older group. In both groups, grip force was greater with a smooth than with a rough surface (the latter having the higher coefficient of friction) during static holding and during movement. Moreover, grip force modulation was equally well synchronized with load force fluctuation during movement in the two groups. The authors concluded that changes in organization of grip force with age are well adapted to change in hand-object interface properties. Elevated grip force in older adults does not necessarily signify a fundamental change in synchronizing grip force modulation with load force fluctuation.     

Changes in pinch force with bidirectional load forces

The forces used to grasp an object were measured while positive (push) and negative (pull) load forces were applied to the hand under varying frictional conditions. Subjects held between the tips of their thumb and index finger a manipulandum composed of two symmetrically mounted disks. The manipulandum was connected to the stage of an electromagnetic linear motor that generated load forces under computer control. In the first experiment, subjects held the position of the manipulandum constant while the motor generated forces in first the positive and then the negative direction. The motor force at which the manipulandum slipped from the fingers was measured in the second experiment. In both experiments, friction was varied by changing the surface (sandpaper, suede, or plastic) of the manipulandum disks. The pinch forces produced by subjects were linearly related to changes in motor force in both the positive and negative directions, with the slope of this relation varying as a function of the surface properties of the manipulandum. The modulation of pinch force with motor force was influenced, however, by the direction of the load force; higher forces were produced in response to negative load forces. Slip forces varied as a function of pinch force and surface texture; higher forces were associated with materials with lower coefficients of friction. These findings suggest that the friction between the skin and an object being grasped changes as a function of the direction of force that the object applies to the skin, possibly due to the anisotropic nature of glabrous skin, and that this mechanical property contributes to variations in pinch force.     

The surface-weight illusion: on the contribution of grip force to perceived heaviness

Previous psychophysical studies have shown that an object, lifted with a precision grip, is perceived as being heavier when its surface is smooth than when it is rough. Three experiments were conducted to assess whether this surface-weight illusion increases with object weight, as a simple fusion model suggests. Experiment 1 verified that grip force increases more steeply with object weight for smooth objects than for rough ones. In Experiment 2, subjects rated the weight of smooth and rough objects. Smooth objects were judged to be heavier than rough ones; however, this effect did not increase with object weight. Experiment 3 employed a different psychophysical method and replicated this additive effect, which argues strongly against the simple fusion model. The whole pattern of results is consistent with a weighted fusion model in which the sensation of grip force contributes only partially to the perceived heaviness of a lifted object.     

Age-Related Changes in Grip Force and Dynamics of Hand Movement

The authors investigated whether older adults (n = 16; mean age = 65 years) increased grip force to compensate for load force fluctuations during up and down movements more than young adults did (n = 16; mean age = 24 years) and whether older and young adults exhibited similar adaptation of grip force to alterations in friction associated with changes in object surface texture. As previously reported, older adults used a higher level of grip force than young adults during static holding. Increased grip force was observed in the older group during movement. The increase was appropriate to the lower coefficient of friction estimated for the older group. In both groups, grip force was greater with a smooth than with a rough surface (the latter having the higher coefficient of friction) during static holding and during movement. Moreover, grip force modulation was equally well synchronized with load force fluctuation during movement in the two groups. The authors concluded that changes in organization of grip force with age are well adapted to change in hand-object interface properties. Elevated grip force in older adults does not necessarily signify a fundamental change in synchronizing grip force modulation with load force fluctuation.     

The surface—weight illusion: On the contribution of grip force to perceived heaviness

Previous psychophysical studies have shown that an object, lifted with a precision grip, is perceived as being heavier when its surface is smooth than when it is rough. Three experiments were conducted to assess whether this surface-weight illusion increases with object weight, as a simple fusion model suggests. Experiment 1 verified that grip force increases more steeply with object weight for smooth objects than for rough ones. In Experiment 2, subjects rated the weight of smooth and rough objects. Smooth objects were judged to be heavier than rough ones; however, this effect did not increase with object weight. Experiment 3 employed a different psychophysical method and replicated this additive effect, which argues strongly against the simple fusion model. The whole pattern of results is consistent with a weighted fusion model in which the sensation of grip force contributes only partially to the perceived heaviness of a lifted object.     

The representation of predictive force control and internal forward models: evidence from lesion studies and brain imaging

Force control on the basis of prediction avoids time delays from sensory feedback during motor performance. Thus, self-produced loads arising from gravitational and inertial forces during object manipulation can be compensated for by simultaneous anticipatory changes in grip force. It has been suggested that internal forward models predict the consequences of our movements, so that grip force can be programmed in anticipation of movement-induced loads. The cerebellum has been proposed as the anatomical correlate of such internal models. Here, we present behavioural data from patients with cerebellar damage and data from brain imaging in healthy subjects further elucidating the role of the cerebellum in predictive force control. Patients with cerebellar damage exhibited clear deficits in the coupling between grip force and load. A positron-emission-tomography (PET) paradigm that separated the process of the grip force/load coupling from the isolated production of similar grip forces and loads was developed. Interaction and conjunction analyses revealed a strong activation peak in the ipsilateral posterior cerebellum particularly devoted to the predictive coupling between grip force and load. Both approaches clearly demonstrate that the cerebellum plays a major role in force prediction that cannot be compensated for by other sensorimotor structures in case of cerebellar disease. However, evidence suggests that also extra-cerebellar structures may significantly contribute to predictive force control: (1) grip force/load coupling may also be impaired after cerebral and peripheral sensorimotor lesions, (2) a coupling-related activation outside the cerebellum was observed in our PET study, and (3) the scaling of the grip force level and the dynamic grip force coupling are dissociable aspects of grip force control.     

Imposed vibration influences perceived tactile smoothness

According to the duplex theory of tactile texture perception, detection of cutaneous vibrations produced when the exploring finger moves across a surface contributes importantly to the perception of fine textures. If this is true, a vibrating surface should feel different from a stationary one. To test this prediction, experiments were conducted in which subjects examined two identical surfaces, one of which was surreptitiously made to vibrate, and judged which of the two was smoother. In experiment 1, the vibrating surface was less and less often judged smoother as the amplitude of (150 Hz) vibration increased. The effect was comparable in subjects who realized the surface was vibrating and those who did not. Experiment 2 showed that different frequencies (150-400 Hz) were equally effective in eliciting the effect when equated in sensation level (dB SL). The results suggest that vibrotaction contributes to texture perception, and that, at least within the Pacinian channel, it does so by means of an intensity code.     

Grasp force control in older adults

Diminished tactile sensibility and impaired hand dexterity have been reported for elderly individuals. Reports that younger adults with severely impaired tactile sensibility use excessive grasp force during routine grasp and manipulation tasks raise the possibility that elderly persons likewise produce large grasp forces that may contribute to impaired dexterity. Impaired pseudomotor functioning also occurs in elderly subjects and may yield a slipperier skin surface that enhances the possibility for excessive grasp force. The present study measured grasp force in 10 elderly and 9 young adult individuals, during grasp and vertical lift of a small object, using a precision (pinch) grip of the thumb and index finger. The slipperiness of the object's gripped surfaces was unexpectedly varied. Skin slipperiness was estimated by also measuring the grasp force at which the object slipped from grasp. The older subjects employed grasp forces that were, on average, twice as large as those of the young subjects, with some producing forces many times greater than the young subjects' average grip force. Grip forces also were significantly more variable across trials in older subjects. This increased variability was not caused simply by the elderly subjects' increased grip force. A portion of the increased force was due to increased skin slipperiness. The grip force that the elderly subjects produced in excess of the slip force (the "margin of safety" against object slippage) was larger than would have been predicted from their skin slipperiness, however. It is suggested that, in part, the excessive grasp forces represent a strategic response to tactile sensibility impairment. Twopoint discrimination limina in the older subjects averaged about four times greater than in the younger subjects. Increased grasp forces in elderly persons may result from other factors, such as increased variability in grip force production. The contributions of excessive grasp forces to impaired dexterity in older persons still need to be addressed experimentally.     

Deficits of anticipatory grip force control after damage to peripheral and central sensorimotor systems

Healthy subjects adjust their grip force economically to the weight of a hand-held object. In addition, inertial loads, which arise from arm movements with the grasped object, are anticipated by parallel grip force modulations. Internal forward models have been proposed to predict the consequences of voluntary movements. Anesthesia of the fingers impairs grip force economy but the feedforward character of the grip force/load coupling is preserved. To further analyze the role of sensory input for internal forward models and to characterize the consequences of central nervous system damage for anticipatory grip force control, we measured grip force behavior in neurological patients. We tested a group of stroke patients with varying degrees of impaired fine motor control and sensory loss, a single patient with complete and permanent differentation from all tactile and proprioceptive input, and a group of patients with amyotrophic lateral sclerosis (ALS) that exclusively impairs the motor system without affecting sensory modalities. Increased grip forces were a common finding in all patients. Sensory deficits were a strong but not the only predictor of impaired grip force economy. The feedforward mode of grip force control was typically preserved in the stroke patients despite their central sensory deficits, but was severely disturbed in the patient with peripheral sensory deafferentation and in a minority of stroke patients. Moderate deficits of feedforward control were also obvious in ALS patients. Thus, the function of the internal forward model and the precision of grip force production may depend on a complex anatomical and functional network of sensory and motor structures and their interaction in time and space.     

Coordination of grip configurations as a function of force output

In this investigation, the authors examined the coordination and control of force production by the digits of the hand as a function of criterion force level and grip configuration. Each adult participant (N = 6: 3 men and 3 women) was required to place the thumb and a finger (or fingers) upon load cells that were fixed to a grasping apparatus that was clamped to a table. In the task, participants had to match a criterion continuous constant total force level displayed on a computer screen. There were 10 trials at each grip configuration and criterion force level combination on each of 3 consecutive days. The results showed that (a) different grip configurations minimized error at each force level; (b) there was a specific digit pairing within a given grip configuration that produced the highest correlation of force output; (c) the correlation between the force output of digits generally increased at higher force levels; (d) error was reduced at each force level and grip configuration over the practice period; and (e) the organization of the force output of each digit varied as a function of digit, force level, grip configuration, and practice. The findings are consistent with the hypothesis that coordination of the digits in prehension is reflective of an adaptive, task-specific solution that is modified with practice.     

Coordination of Grip Configurations as a Function of Force Output

In this investigation, the authors examined the coordination and control of force production by the digits of the hand as a function of criterion force level and grip configuration. Each adult participant (N = 6: 3 men and 3 women) was required to place the thumb and a finger (or fingers) upon load cells that were fixed to a grasping apparatus that was clamped to a table. In the task, participants had to match a criterion continuous constant total force level displayed on a computer screen. There were 10 trials at each grip configuration and criterion force level combination on each of 3 consecutive days. The results showed that (a) different grip configurations minimized error at each force level; (b) there was a specific digit pairing within a given grip configuration that produced the highest correlation of force output; (c) the correlation between the force output of digits generally increased at higher force levels; (d) error was reduced at each force level and grip configuration over the practice period; and (e) the organization of the force output of each digit varied as a function of digit, force level, grip configuration, and practice. The findings are consistent with the hypothesis that coordination of the digits in prehension is reflective of an adaptive, task-specific solution that is modified with practice.     

Influence of shape on haptic curvature perception

Curvature discrimination of hand-sized doubly curved surfaces by means of static touch was investigated. Stimuli consisted of hyperbolical, cylindrical, elliptical and spherical surfaces of various curvatures. In the first experiment subjects had to discriminate the curvature along a specified orientation (the discrimination orientation) of a doubly curved surface from a flat surface. The curvature to be discriminated was oriented either along the middle finger or across the middle finger of the right hand. Independent of the shape of the surface, thresholds were found to be about 1.6 times smaller along the middle finger than across the middle finger. Discrimination biases were found to be strongly influenced by the shape of the surface; subjects judged a curvature to be more convex when the perpendicular curvature was convex than when this curvature was concave. With the results of the second experiment it could be ruled out that the influence of shape on curvature perception was simply due to a systematic error made by the subject regarding the discrimination orientation.     

The perception of doubly curved surfaces from anisotropic textures

Abstract— Most existing computational models of the visual perception of three-dimensional shape from texture are based on assumed constraints about how texture is distributed on visible surfaces. The research described in the present article was designed to investigate how violations of these assumptions influence human perception. Observers were presented with images of smoothly curved surfaces depicted with different types of texture, whose distribution of surface markings could be both anisotropic and inhomogeneous. Observers judged the pattern of ordinal depth on each object by marking local maxima and minima along designated scan lines. They also judged the apparent magnitudes of relative depth between designated probe points on the surface. The results revealed a high degree of accuracy and reliability in all conditions, except for a systematic underestimation of the overall magnitude of surface relief. These findings suggest that human perception of three-dimensional shape from texture is much more robust than would be reasonable to expect based on current computational models of this phenomenon.     

Halving and doubling isometric force: Evidence for a decelerating psychophysical function consistent with an equilibrium-point model of motor control

Several previous investigations have measured accelerating psychophysical functions for perceived force with exponents of about 1.7. Two halving and doubling experiments presented here imply a psychophysical function for perceived force with an exponent between 0.6 and 0.8. That is, more than a doubling of force was needed to double the sensation, and similarly for halving. In the first experiment, subjects squeezed rigid instrumented cylinders between the thumb and first two fingers of each hand. They generated and released a reference force with one hand, and then squeezed the opposite hand to produce a sensation magnitude equal to, twice that, or half that of the reference. An analysis using a model that accounted for compression bias yielded average psychophysical functions with exponents of 0.58 and 0.59 (nondominant and dominant hands, respectively). The second experiment was an attempt to replicate earlier results and to reconcile them with the first experiment by using a paradigm duplicated from a previous study. Subjects in the second experiment made unilateral halving and doubling judgments of handgrip while squeezing a hand dynamometer. Again, the halving and doubling judgments yielded decelerating functions with exponents of 0.75 and 0.80 (nondominant and dominant hands, respectively). Even though the results of the first two experiments contradict earlier investigations, they can be explained by an equilibrium model of motor control assuming that subjects halve and double the central motor command rather than the sensation of force. The force is simply the result of the mechanical equilibrium established between the load and the compliant effector (the hand). The predicted relationship between the motor command judgments, the compliance of the hand, and the resultant forces was confirmed in a third experiment in which the mechanical compliance of the three-finger pinch was measured by using a pneumatic manipulandum to apply force perturbations in a “do-notintervene” paradigm. The measured compliance characteristic was accelerating, just as predicted by the model, in order to produce a decelerating psychophysical function for “perceived force.” In this experiment, then, judgments of perceived force appear to be judgments of the central motor command.     

The discriminability of smooth stereoscopic surfaces.

In this study the sensitivity of human vision to the smoothness of stereoscopic surface structure was investigated. In experiments 1 and 2 random-dot stereograms were used to evaluate the discrimination of smooth versus 'noisy' sinusoidal surfaces differing in the percentages of points on a single smooth surface. Fully coherent smooth surfaces were found to be much more discriminable than other less smooth randomly perturbed surfaces. In experiment 3 the discrimination between discontinuous triangle-wave surfaces and similarly shaped smoothly curved surfaces obtained from the addition of the fundamental and the third harmonic of the corresponding triangle-wave surface was evaluated. The triangle-wave surfaces were found to be more accurately discriminated from the smoothly curved surfaces than would be predicted from the detectability of the difference in their Fourier power spectra. This superior discriminability was attributed to differences between the curvature and/or discontinuity of the two surfaces. In experiment 3 the effects of incoherent 'noise' points on the discrimination between the two surface types were also evaluated. These randomly positioned noise points had a relatively small effect on the discrimination between the two surfaces. In general, the results of these experiments indicate that smooth surfaces are salient for stereopsis and that isolated local violations of smoothness are highly discriminable.     

Visual and tactual texture perception: Intersensory cooperation

In three experiments, subjects were required to make texture judgments about abrasive surfaces. Touch and vision provided comparable levels of performance when observers attempted to select the smoothest of three surfaces, but bimodal visual and tactual input led to greater accuracy. The superiority of bimodal perception was ascribed to visual guidance of tactual exploration. The elimination of visual texture cues did not impair bimodal performance if vision of hand movements were permitted. It is suggested that touch may preempt vision when both sources of texture information are simultaneously available. The results support the notion that perception is normally multimodal, since restriction of the observer to either sense in isolation produces lower levels of performance.     

Judging distance across texture discontinuities

Sinai et al (1998 Nature 395 497-500) showed that less distance is perceived along a ground surface that spans two differently textured regions than along a surface that is uniformly textured. We examined the effect of texture continuity on judged distance using computer-generated displays of simulated surfaces in five experiments. Discontinuities were produced by using different textures, the same texture reversed in contrast, or the same texture shifted horizontally. The simulated surface was either a ground plane or a frontoparallel plane. For all textures and both orientations, less distance was judged in the discontinuous conditions than in continuous conditions. We propose that when a surface contains a texture discontinuity, a small area adjacent to the perceived boundary is excluded from judged distances.     

Changes of lumbosacral joint compression force profile when walking caused by backpack loads

Walking with backpack loads induces additional mechanical stress on the spine and has been identified as a risk factor of lower-back pain. This study evaluated the effects of walking with backpack loads on the lumbosacral joint compression force profile in both the magnitude and time domains. Ten male adults geared with anatomical markers and trunk surface electromyographic sensors walked along a walkway embedded with three force plates with no load and various backpack loads (5%, 10%, 15%, and 20% body weight). Lower-body movements, ground reaction forces, and trunk muscle activations were measured using a synchronized motion analysis, force plate, and surface electromyography system. The force profiles of identified gait cycles were predicted using an integrated inverse dynamic and electromyography-assisted optimization model and evaluated statistically. The results showed that as backpack load increased, the 10th, 50th, and 90th percentiles of force profiles escalated disproportionately. However, no significant changes were observed in the timing of the two peak force incidences. Such changes in the compression force might be an indication of the combined effects of the increase in both gravitational and mass moment of inertia of the system (body plus pack loads) when walking with a backpack. Pearson correlation coefficients of the force profiles between the five loading conditions were greater than 0.94. Strong associations between the force profiles at different backpack loads were confirmed.     

Variations in size judgements as a function of surface texture

Adult subjects made monocular size judgements in two experiments in which the independent variables of surface texture and restrictions on viewing conditions were manipulated. Texture density gradients of stimulation had a significant influence of size judgements only under the less reduced conditions of observation when subjects could see other textured surfaces beyond the surfaces over which judgements were made. Identical manipulations of surface texture had earlier been found to have a highly significant influence on relative distance judgements (Newman, 1971). The principally negative results were thus taken to imply that subjects extract different information from the texture density gradient when judging size from that extracted when judging relative distance.