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.     

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.     

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.     

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.     

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.     

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.     

Material properties determine how force and position signals combine in haptic shape perception

When integrating estimates from redundant sensory signals, humans seem to weight these estimates according to their reliabilities. In the present study, human observers used active touch to judge the curvature of a shape. The curvature was specified by positional and force signals: When a finger slides across a surface, the finger's position follows the surface geometry (position signal). At the same time, it is exposed to patterns of forces depending on the gradient of the surface (force signal; Robles-de-la-Torre, G., & Hayward, V. (2001). Force can overcome object geometry in the perception of shape through active touch. Nature, 412, 445-448). We show that variations in the surface's material properties (compliance, friction) influence the sensorily available position and force signals, as well as the noise associated with these signals. Along with this, material properties affect the weights given to the position and force signals for curvature judgements. Our findings are consistent with the notion of an observer who weights signal estimates according to their reliabilities. That is, signal weights shifted with the signal noise, which in the present case resulted from active exploration.     

The visual perception of 3D shape

A fundamental problem for the visual perception of 3D shape is that patterns of optical stimulation are inherently ambiguous. Recent mathematical analyses have shown, however, that these ambiguities can be highly constrained, so that many aspects of 3D structure are uniquely specified even though others might be underdetermined. Empirical results with human observers reveal a similar pattern of performance. Judgments about 3D shape are often systematically distorted relative to the actual structure of an observed scene, but these distortions are typically constrained to a limited class of transformations. These findings suggest that the perceptual representation of 3D shape involves a relatively abstract data structure that is based primarily on qualitative properties that can be reliably determined from visual information.     

Influence of exploration time on haptic and visual matching of complex shape

The time adult Ss were allowed to explore stimuli was varied during intra- and cross-model equivalence matching involving vision and touch. Increasing time to explore either each standard, each comparison, or both standard and comparison from 4 to 16 sec significantly improved haptic intramodel matching. However, cross-modal matching, from either vision to touch or touch to vision, improved significantly only when time to explore each standard was increased. Videotape recordings of Ss’ hand movements revealed use of a greater variety of haptic scanning strategies by Ss in groups where increased exploration time enhanced accuracy. The difference in effects of exploration time on intra- compared to cross-model shape matching was discussed in terms of possible differences in requirements between the two tasks.     

The infant's use of visual and haptic information in the perception and recognition of objects

The purpose of this paper is to discuss the relationship between the haptic and visual systems during infant's bimodal interaction with objects. Four general topics are discussed: the role of exploratory activity in perception, the specific ways in which the two systems are related during exploration, developments over age in the relationship between the systems, and the impact of the organism/environment relationship on these developments.     

The role of contour polarity,objectness, and regularities in haptic and visual perception

Regularities like symmetry (mirror reflection) and repetition (translation) play an important role in both visual and haptic (active touch) shape perception. Altering figure-ground factors to change what is perceived as an object influences regularity detection. For vision, symmetry is usually easier to detect within one object, whereas repetition is easier to detect across two objects. For haptics, we have not found this interaction between regularity type and objectness (Cecchetto & Lawson, Journal of Experimental Psychology: Human Perception and Performance, 43, 103–125, 2017; Lawson, Ajvani, & Cecchetto, Experimental Psychology, 63, 197–214, 2016). However, our studies used repetition stimuli with mismatched concavities, convexities, and luminance, and so had mismatched contour polarities. Such stimuli may be processed differently to stimuli with matching contour polarities. We investigated this possibility. For haptics, speeded symmetry and repetition detection for novel, planar shapes was similar. Performance deteriorated strikingly if contour polarity mismatched (keeping objectness constant), whilst there was a modest disadvantage for between-2objects:facing-sides compared to within-1object:outer-sides comparisons (keeping contour polarity constant). For the same task for vision, symmetry detection was similar to haptics (strong costs for mismatched contour polarity, weaker costs for between-2objects:facing-sides comparisons), but repetition detection was very different (weak costs for mismatched contour polarity, strong benefits for between-2objects:facing-sides comparisons). Thus, objectness was less influential than contour polarity for both haptic and visual symmetry detection, and for haptic repetition detection. However, for visual repetition detection, objectness effects reversed direction (within-1object:outer-sides comparisons were harder) and were stronger than contour polarity effects. This pattern of results suggests that regularity detection reflects information extraction as well as regularity distributions in the physical world.     

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.     

Length distortion of temporally extended visual displays: similarity to haptic spatial perception

Three experiments were designed to investigate length distortion--the tendency to inflate estimates of the inferred distance between two points, as the length of a circuitous pathway between them increases. This phenomenon, previously demonstrated with haptic and locomotor exploration (Lederman, Klatzky, Collins, & Wardell, 1987), was extended to vision through the presentation of pathways as a temporal sequence of illuminated points. The magnitude of the visual effect was less than that previously found in haptics, and conditions promoting the effect included a relatively slow presentation rate and moderately complex pathways. Commonalities in the pattern, if not the magnitude, of length distortion in vision and haptics suggest that similar processes of spatial encoding may underlie the phenomenon in both domains.     

An after-effect in haptic space perception

After-effects in haptic perception have been little studied. But they seem to be prominent, and easy to elicit. An after-effect of the perception of the vergence of two surfaces is described, and is shown to be independent of the slant of the surfaces. It is not “figural.” Spatial perception with the hands, as well as with the eyes, is apparently based on a fluid and adaptable receptive system.     

Curvature affects haptic length perception

One possible way of haptically perceiving length is to trace a path with one’s index finger and estimate the distance traversed. Here, we present an experiment in which observers judge the lengths of paths across cylindrically curved surfaces. We found that convex and concave surfaces had qualitatively different effects: convex lengths were overestimated, whereas concave lengths were underestimated. In addition, we observed that the index finger moved more slowly across the convex surface than across the concave one. As a result, movement times for convex lengths were longer. The considerable correlation between movement times and length estimates suggests that observers take the duration of movement as their primary measure of perceived length, but disregard movement speeds. Several mechanisms that could underlie observers’ failure to account for speed differences are considered.     

The haptic perception of curvature

Ninety-two subjects, schoolchildren and undergraduate and postgraduate students, took part in a series of experiments on the haptic perception of curvature. A graded series of surfaces was produced using piano-convex lenses masked off to produce curved strips that could be explored without using arm movements. Thresholds were measured using the constant method and a staircase procedure. Experiments 1 and 2 yielded data on the absolute and difference thresholds for curvature. Experiment 3 demonstrated that the effective stimulus for curvature is represented by the overall gradient of a curved surface. Using this measure, it was shown that the present absolute thresholds for curvature are lower than those previously reported. In Experiment 4, absolute thresholds were compared using spherical and cylindrical curves: the results showed that, at least with the narrow strips used, the type of curvature does not exert a significant influence on performance. In Experiment 5, the subjective response to curvature was assessed using a rating procedure. Power functions are reported, although the relationship between stimuli and responses had a strong linear component. This suggests that haptically perceived curvature may be a metathetic rather than a prothetic continuum.     

Symmetry perception in humans and macaques

The human ability to detect symmetry has been a topic of interest to psychologists and philosophers since the 19th century, yet surprisingly little is known about the neural basis of symmetry perception. In a recent fMRI study, Sasaki and colleagues begin to remedy this situation. By identifying the neural structures that respond to symmetry in both humans and macaques, the authors lay the groundwork for understanding the neural mechanisms underlying symmetry perception.     

Symmetry perception in the blind

Bilateral mirror symmetry, especially vertical symmetry, is a powerful phenomenon in spatial organization of visual shapes. However, the causes of vertical symmetry salience in visual perception are not completely clear. Here we investigated whether the perceptual salience of vertical symmetry depends on visual experience by testing a group of congenitally blind individuals in a memory task in which either horizontal or vertical symmetry was used as an incidental feature. Both blind and sighted subjects remembered more accurately configurations that were symmetrical compared to those that were not. Critically, whereas sighted subjects displayed a higher level of facilitation by vertical than horizontal symmetry, no such difference was found in the blind. This suggests that the perceptual salience of the vertical dimension is visually based.