Parallel processing of shape and texture in haptic search

In a haptic search task, one has to determine the presence of a target among distractors. It has been shown that if the target differs from the distractors in two properties, shape and texture, performance is better than in both single-property conditions (Van Polanen, Bergmann Tiest, & Kappers, 2013). The search for a smooth sphere among rough cubical distractors was faster than both the searches for a rough sphere (shape information only) and for a smooth cube (texture information only). This effect was replicated in this study as a baseline. The main focus here was to further investigate the nature of this integration. It was shown that performance is better when the two properties are combined in a single target (smooth sphere), than when located in two separate targets (rough sphere and smooth cube) that are simultaneously present. A race model that assumes independent parallel processing of the two properties could explain the enhanced performance with two properties, but this could only take place effectively when the two properties were located in a single target.     

Analysis of haptic perception of materials by multidimensional scaling and physical measurements of roughness and compressibility

In this paper, results of a free sorting task of 124 different material samples are analysed using multidimensional scaling. The relevant number of dimensions for haptic perception of materials is estimated to be 4. In addition, the haptic material space is calibrated by means of physical measurements of compressibility and roughness. The relation between objective and perceived compressibility and that between objective and perceived roughness could be described by an exponential function.     

Seeing and feeling volumes: The influence of shape on volume perception

The volume of common objects can be perceived visually, haptically or by a combination of both senses. The present study shows large effects of the object's shape on volume perception within all these modalities, with an average bias of 36%. In all conditions, the volume of a tetrahedron was overestimated compared to that of a cube or a sphere, and the volume of a cube was overestimated compared to that of a sphere. Additional analyses revealed that the biases could be explained by the dependence of the volume judgment on different geometric properties. During visual volume perception, the strategies depended on the objects that were compared and they were also subject-dependent. However, analysis of the haptic and bimodal data showed more consistent results and revealed that surface area of the stimuli influenced haptic as well as bimodal volume perception. This suggests that bimodal volume perception is more influenced by haptic input than by visual information.     

Anisotropy in haptic curvature and shape perception

An investigation was undertaken into whether haptic comparison of curvature and of shape is influenced by the length/width ratio of the hand. For this purpose three experiments were conducted to test the curvature matching of curved strips (experiment 1), the curvature matching of cylindrically curved hand-sized surfaces (experiment 2), and the shape discrimination of elliptically curved hand-sized surfaces (experiment 3). The orientation of the stimuli with respect to the fingers was varied. The results of the two matching experiments showed that a given curvature is judged to be more curved when touched along the fingers than when touched across the fingers. The phenomenal flatness along and across the fingers was found to be different and subject dependent. The results of the shape-discrimination experiment showed that the orientation of ellipsoidal surfaces influences the judgments of the shapes of these surfaces. This influence could be predicted on the basis of results of the second matching experiment. It is concluded that similar mechanisms underlie the (anisotropic) perception of curvature and shape. For the major part the trends in the results can be explained by the length/width ratio of the hand and the phenomenal flatnesses.     

The contributions of egocentric and allocentric reference frames in haptic spatial tasks

The influence of egocentric and allocentric reference frames on performance in haptic spatial tasks, was tested in three conditions. Blindfolded subjects had to make two bars haptically parallel, perpendicular or mirrored in the midsagittal plane. The hypothesis is that the contributions of egocentric and allocentric reference frames are combined, resulting in settings that lie in between the allo-representation and the ego-representation. This leads to different predictions for the outcome of different conditions. All findings were consistent with the hypothesis. In addition, for subjects with large deviations a reversal of the oblique effect was found once again, which provides extra support for the hypothesis.     

Haptic shape perception from force and position signals varies with exploratory movement direction and the exploring finger

We investigated how exploratory movement influences signal integration in active touch. Participants judged the amplitude of a bump specified by redundant signals: When a finger slides across a bump, the finger’s position follows the bump’s geometry (position signal); simultaneously, it is exposed to patterns of forces depending on the gradient of the bump (force signal). We varied amplitudes specified by force signals independently of amplitudes specified by position signals. Amplitude judgment was a weighted linear function of the amplitudes specified by both signals, under different exploratory conditions. The force signal’s contribution to the judgment was higher when the participants explored with the index finger, as opposed to the thumb, and when they explored along a tangential axis, as opposed to a radial one (pivot ≌ shoulder joint). Furthermore, for tangential, as compared with radial, axis exploration, amplitude judgments were larger (and more accurate), and amplitude discrimination was better. We attribute these exploration-induced differences to biases in estimating bump amplitude from force signals. Given the choice, the participants preferred tangential explorations with the index finger—a behavior that resulted in good discrimination performance. A role for an active explorer, as well as biases that depend on exploration, should be taken into account when signal integration models are extended to active touch.     

The use of proprioception and tactile information in haptic search

To investigate how tactile and proprioceptive information are used in haptic object discrimination we conducted a haptic search task in which participants had to search for either a cylinder, a bar or a rotated cube within a grid of aligned cubes. Tactile information from one finger is enough to detect a cylinder amongst the cubes. For detecting a bar or a rotated cube amongst cubes touch alone is not enough. For the rotated cube this is evident because its shape is identical to that of the non-targets, so proprioception must provide information about the orientation of the fingers and hand when touching it. For the bar one either needs proprioceptive information about the distance and direction of a single finger’s movements along the surfaces, or proprioceptive information from several fingers when they touch it simultaneously. When using only one finger, search times for the bar were much longer than those for the other two targets. When the whole hand or both hands were used the search times were similar for all shapes. Most errors were made when searching for the rotated cube, probably due to systematic posture-related biases in judging orientation on the basis of proprioception. The results suggest that tactile and proprioceptive information are readily combined for shape discrimination.     

Symmetry in haptic and in visual shape perception

Four experiments tested the hypothesis that bilateral symmetry is an incidental encoding property in vision, but can also be elicited as an incidental effect in touch, provided that sufficient spatial reference information is available initially for haptic inputs to be organized spatially. Experiment 1 showed that symmetry facilitated processing in vision, even though the task required judgments of stimulus closure rather than the detection of symmetry. The same task and stimuli failed to show symmetry effects in tactual scanning by one finger (Experiment 2). Experiment 3 found facilitating effects for vertically symmetric open stimuli, although not for closed patterns, in two-forefinger exploration when the fore-fingers had previously been aligned to the body midaxis to provide body-centered spatial reference. The one-finger exploration condition again failed to show symmetry effects. Experiment 4 replicated the facilitating effects of symmetry for open symmetric shapes in tactual exploration by the two (previously aligned) forefingers. Closed shapes again showed no effect. Spatial-reference information, finger movements, and stimulus factors in shape perception by touch are discussed.     

Salient features in 3-D haptic shape perception

Shape is an important cue for recognizing an object by touch. Several features, such as edges, curvature, surface area, and aspect ratio, are associated with 3-D shape. To investigate the saliency of 3-D shape features, we developed a haptic search task. The target and distractor items consisted of shapes (cube, sphere, tetrahedron, cylinder, and ellipsoid) that differed in several of these features. Exploratory movements were left as unconstrained as possible. Our results show that this type of haptic search task can be performed very efficiently (25 msec/item) and that edges and vertices are the most salient features. Furthermore, very salient local features, such as edges, can also be perceived through enclosure, an exploratory procedure usually associated with global shape. Since the subjects had to answer as quickly as possible, this suggests that speed may be a factor in selecting the appropriate exploratory procedure.     

The visual and haptic perception of natural object shape

In this study, we evaluated observers' ability to compare naturally shaped three-dimensional (3-D) objects, using their senses of vision and touch. In one experiment, the observers haptically manipulated 1 object and then indicated which of 12 visible objects possessed the same shape. In the second experiment, pairs of objects were presented, and the observers indicated whether their 3-D shape was the same or different. The 2 objects were presented either unimodally (vision-vision or haptic-haptic) or cross-modally (vision-haptic or haptic-vision). In both experiments, the observers were able to compare 3-D shape across modalities with reasonably high levels of accuracy. In Experiment 1, for example, the observers' matching performance rose to 72% correct (chance performance was 8.3%) after five experimental sessions. In Experiment 2, small (but significant) differences in performance were obtained between the unimodal vision-vision condition and the two cross-modal conditions. Taken together, the results suggest that vision and touch have functionally overlapping, but not necessarily equivalent, representations of 3-D shape.     

Aging and the haptic perception of 3D surface shape

Two experiments evaluated the ability of older and younger adults to perceive the three-dimensional (3D) shape of object surfaces from active touch (haptics). The ages of the older adults ranged from 64 to 84 years, while those of the younger adults ranged from 18 to 27 years. In Experiment 1, the participants haptically judged the shape of large (20 cm diameter) surfaces with an entire hand. In contrast, in Experiment 2, the participants explored the shape of small (5 cm diameter) surfaces with a single finger. The haptic surfaces varied in shape index (Koenderink, Solid shape, 1990; Koenderink, Image and Vision Computing, 10, 557-564, 1992) from -1.0 to +1.0 in steps of 0.25. For both types of surfaces (large and small), the participants were able to judge surface shape reliably. The older participants' judgments of surface shape were just as accurate and precise as those of the younger participants. The results of the current study demonstrate that while older adults do possess reductions in tactile sensitivity and acuity, they nevertheless can effectively perceive 3D surface shape from haptic exploration.     

Light source position in the perception of object shape

The apparent relief of monocularly viewed surfaces reversed when the order of light and shade was reversed relative to the position of a lamp observed the moment earlier. The pattern of shading was reversed either by illuminating from a direction opposite to that of the apparent direction of illumination or by inverting the illuminating image relative to the light source. The combination of both of these manipulations restores the original juxtaposition of light source and shading and reestablished accurate perception of relief. These results demonstrate that the perception of the relief of physical surfaces depends upon the remembered position of an apparent light source.     

Aging and the visual, haptic, and cross-modal perception of natural object shape

One hundred observers participated in two experiments designed to investigate aging and the perception of natural object shape. In the experiments, younger and older observers performed either a same/different shape discrimination task (experiment 1) or a cross-modal matching task (experiment 2). Quantitative effects of age were found in both experiments. The effect of age in experiment 1 was limited to cross-modal shape discrimination: there was no effect of age upon unimodal (ie within a single perceptual modality) shape discrimination. The effect of age in experiment 2 was eliminated when the older observers were either given an unlimited amount of time to perform the task or when the number of response alternatives was decreased. Overall, the results of the experiments reveal that older observers can effectively perceive 3-D shape from both vision and haptics.     

Distortions in definite distance and shape perception as measured by reaching without and with haptic feedback

Psychophysical studies reveal distortions in perception of distance and shape. Are reaches calibrated to eliminate distortions? Participants reached to the front, side, or back of a target sphere. In Experiment 1, feedforward reaches yielded distortion and outward drift. In Experiment 2, haptic feedback corrected distortions and instability. In Experiment 3, feedforward reaches with only haptic experience of targets replicated the shape distortions but drifted inward. This showed that outward drift in Experiment 1 was visually driven. In Experiment 4, visually guided reaches were accurate when participants used binocular vision but when they used monocular vision, reaches were distorted. Haptic feedback corrected inaccuracy and instability of distance but did not correct monocular shape distortions. Dynamic binocular vision is representative and accurate and merits further study.     

Inhibitory competition between shape properties in figure-ground perception

Theories of figure-ground perception entail inhibitory competition between either low-level units (edge or feature units) or high-level shape properties. Extant computational models instantiate the 1st type of theory. The authors investigated a prediction of the 2nd type of theory: that shape properties suggested on the ground side of an edge are suppressed when they lose the figure-ground competition. In Experiment 1, the authors present behavioral evidence of the predicted suppression: Object decisions were slower for line drawings that followed silhouettes suggesting portions of objects from the same rather than a different category on their ground sides. In Experiment 2, the authors reversed the silhouette's figure-ground relationships and obtained speeding rather than slowing in the same category condition, thereby demonstrating that the Experiment 1 results reflect suppression of those shape properties that lose the figure-ground competition. These experiments provide the first clear empirical evidence that figure-ground perception entails inhibitory competition between high-level shape properties and demonstrate the need for amendments to existing computational models. Furthermore, these results suggest that figure-ground perception may itself be an instance of biased competition in shape perception.     

Metamers in the haptic perception of heaviness and moveableness

It is hypothesized that heaviness perception for a freely wielded nonvisible object can be mapped to a point in a three-dimensional heaviness space. The three dimensions are mass, the volume of the inertia ellipsoid, and the symmetry of the inertia ellipsoid. Within this space, particular combinations yield heaviness metamers (objects of different mass that feel equally heavy), whereas other combinations yield analogues to the size-weight illusion (objects of the same mass that feel unequally heavy). Evidence for the two types of combinations was provided by experiments in which participants wielded occluded hand-held objects and estimated the heaviness of the objects relative to a standard. Further experiments with similar procedures showed that metamers of heaviness were metamers of moveableness but not metamers of length. A promising conjecture is that the haptic perceptual system maps the combination of an object's inertia for translation and inertia for rotation to a perception of the object's maneuverability.     

Visual and haptic perception of postural affordances in children and adults

The present study compared how children and adults perceived affordances for upright stance when information was available either visually or haptically. 12 adults (mean age=26.5 years) and 13 children (mean age=4.5 years) examined an adjustable wooden platform that was randomly set at five different degrees of inclination (17, 22, 27, 33, 39). In the haptic condition, a masking curtain excluded vision of the platform and the surface was explored with a hand-held, wooden dowel. Results showed that for both children and adults there was closer agreement between perceptual judgments and action capabilities in the visual condition. Children overestimated their ability to stand on the steeper slopes, took equal amounts of time to make their judgments across all slopes, and were equally confident in their judgments across all slopes. In contrast, adults were more accurate than children at judging the affordances for upright stance, took longer to respond close to the actual action boundary, and were less confident close to the action boundary. Furthermore, adults took longer to respond and were less confident in the haptic condition whereas children had similar response times and were equally confident in both conditions. These important differences between adults and children in the perception of a basic affordance are discussed with reference to the coupling between perception and action at different phases of the lifespan and to the factors that might influence the organization of this coupling. Finally, implications are drawn for the prevention of accidents and the promotion of basic motor competence in children.     

Holistic processing and reliance on global viewing strategies in older adults' face perception

There is increasing evidence that face recognition might be impaired in older adults, but it is unclear whether the impairment is truly perceptual, and face specific. In order to address this question we compared performance in same/different matching tasks with face and non-face objects (watches) among young (mean age 23.7) and older adults (mean age 70.4) using a context congruency paradigm (Meinhardt-Injac, Persike & Meinhardt, 2010, Meinhardt-Injac, Persike and Meinhardt, 2011a). Older adults were less accurate than young adults with both object classes, while face matching was notably impaired. Effects of context congruency and inversion, measured as the hallmarks of holistic processing, were equally strong in both age groups, and were found only for faces, but not for watches. The face specific decline in older adults revealed deficits in handling internal facial features, while young adults matched external and internal features equally well. Comparison with non-face stimuli showed that this decline was face specific, and did not concern processing of object features in general. Taken together, the results indicate no age-related decline in the capabilities to process faces holistically. Rather, strong holistic effects, combined with a loss of precision in handling internal features indicate that older adults rely on global viewing strategies for faces. At the same time, access to the exact properties of inner face details becomes restricted.     

Roughness perception in haptic virtual reality for sighted and blind people

Psychophysical functions for perceived roughness, relating ln (magnitude estimate of roughness) to ln (groove width), were obtained for blind and sighted participants in virtual reality using the PHANToM force feedback device. The stimuli were sinusoidal surfaces with groove widths between 0.675 mm and 20.700 mm. Group functions showed a similar nonlinearity to those obtained in physical reality using rigid probes (Klatzky, Lederman, Hamilton, Grindley, & Swendsen, 2003; Lederman, Klatzky, Hamilton, & Ramsay, 1999). Individual functions gave a different picture. Of 23 total participants, there were 13 with wholly descending linear psychometric functions, 7 with quadratic functions similar to the group function, and 3 with anomalous functions. Individual power law exponents showed no significant effects of visual status. All analyses gave a power law exponent close to -0.80. The implications for theories of roughness, methodologies of data analysis, and the design of haptic virtual reality interfaces are considered.