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.     

The perception of size and distance under monocular observation

A relative-perceived-size hypothesis is proposed to account for the perception of size and distance under monocular observation in reduced-cue settings. This hypothesis is based on two assumptions. In primary processing, perceived size is determined by both proximal stimulation on the retina and distance information from primary cues such as oculomotor cues. In secondary processing, the relation of two primary perceived sizes determines another relation of secondary perceived distances, so that an object of smaller primary perceived size is judged to be further away. An experiment was designed to test this hypothesis, especially the assumption of secondary processing, by making ratio judgments of perceived size and perceived distance for two successively presented targets. The Standard square was presented at a constant distance and varied in visual angle; the variable square was presented with a constant visual angle in distance. The results showed that an inverse relation between size and distance estimates held regardless of whether the visual angles of the targets were the same or different.     

Reaching towards an end: Numerical end and distance effects in motor movements

Numerical comparisons are affected by the distance between the numbers and by the presence of an end stimulus. In line with embodied cognition approaches, past studies found evidence for the distance effect in continuous motor movements. The present study is the first to provide evidence for the end effect (i.e., faster comparisons for pairs that include an end stimulus of a set) using continuous motor movements. Two digits were presented horizontally on a screen and participants reached towards the larger one using a computer mouse cursor. Response trajectories were straighter (1) when the number pair included the end stimulus of 1, and (2) when the numerical distance between the numbers was large. Importantly, the end effect appeared earlier in the motor trajectory than the distance effect. The implications of this pattern for the cognitive processes underlying the end and the distance effects are discussed.     

Reference frames and haptic perception of orientation: Body and head tilt effects on the oblique effect

The aim of this study was to examine the effect of body and head tilts on the haptic oblique effect. This effect reflects the more accurate processing of vertical and horizontal orientations, relative to oblique orientations. Body or head tilts lead to a mismatch between egocentric and gravitational axes and indicate whether the haptic oblique effect is defined in an egocentric or a gravitational reference frame. The ability to reproduce principal (vertical and horizontal) and oblique orientations was studied in upright and tilted postures. Moreover, by controlling the deviation of the haptic subjective vertical provoked by postural tilt, the possible role of a subjective gravitational reference frame was tested. Results showed that the haptic reproduction of orientations was strongly affected by both the position of the body (Experiment 1) and the position of the head (Experiment 2). In particular, the classical haptic oblique effect observed in the upright posture disappeared in tilted conditions, mainly because of a decrease in the accuracy of the vertical and horizontal settings. The subjective vertical appeared to be the orientation reproduced the most accurately. These results suggest that the haptic oblique effect is not purely gravitationally or egocentrically defined but, rather, depends on a subjective gravitational reference frame that is tilted in a direction opposite to that of the head in tilted postures (Experiment 3).     

Reference frames and haptic perception of orientation: body and head tilt effects on the oblique effect.

The aim of this study was to examine the effect of body and head tilts on the haptic oblique effect. This effect reflects the more accurate processing of vertical and horizontal orientations, relative to oblique orientations. Body or head tilts lead to a mismatch between egocentric and gravitational axes and indicate whether the haptic oblique effect is defined in an egocentric or a gravitational reference frame. The ability to reproduce principal (vertical and horizontal) and oblique orientations was studied in upright and tilted postures. Moreover, by controlling the deviation of the haptic subjective vertical provoked by postural tilt, the possible role of a subjective gravitational reference frame was tested. Results showed that the haptic reproduction of orientations was strongly affected by both the position of the body (Experiment 1) and the position of the head (Experiment 2). In particular, the classical haptic oblique effect observed in the upright posture disappeared in tilted conditions, mainly because of a decrease in the accuracy of the vertical and horizontal settings. The subjective vertical appeared to be the orientation reproduced the most accurately. These results suggest that the haptic oblique effect is not purely gravitationally or egocentrically defined but, rather, depends on a subjective gravitational reference frame that is tilted in a direction opposite to that of the head in tilted postures (Experiment 3).     

Gravity as a monocular cue for perception of absolute distance and/or absolute size.

When the motion of an object is influenced by gravity (eg free fall, pendulum, wave motion), that influence may provide a cue to computing the absolute distance and/or size of the object. Formal analysis supports the claim that the distance and size of moving objects are generally computable with reference to the gravitational component of motion. Informal evidence from judgments of realism in films is consistent with this gravity-cue hypothesis.     

Visual and haptic perception of the horizontal-vertical illusion

The horizontal-vertical illusion consists of two lines of the same length (one horizontal and the other vertical) at a 90 degree angle from one another forming either an inverted-T or an L-shape. The illusion occurs when the length of a vertical line is perceived as longer than the horizontal line even though they are the same physical length. The illusion has been shown both visually and haptically. The present purpose was to assess differences between the visual or haptic perception of the illusions and also whether differences occur between the inverted-T and the L-shape illusions. The current study showed a greater effect in the haptic perception of the horizontal-vertical illusion than in visual perception. There is also greater illusory susceptibility of the inverted-T than the L-shape.     

Discrimination and memory experiments on haptic perception of softness

This paper described a pilot study and two follow-up experiments, using a device developed in the laboratory to study the human fingertip's discrimination and memory for softness perception. According to the pilot study, soft objects were easier to identify than hard ones. When subjects touched objects, the number of times seemed to be from 2 to 6. For most, the touch frequency ranged from 0.3 to 1.3 Hz. In Exp. 1, the method of constant stimuli was used to study the human fingertip's stiffness difference threshold for haptic perception. The estimated difference threshold averaged over 24 subjects was 33 N/m. And, the stiffness difference thresholds for most people were in the range of 20 N/m to 40 N/m. In Exp. 2, the haptic memory span was discussed according to the recall experiment. Human haptic memory span lay between three and four items.     

The independence of size perception and distance perception

Research on distance perception has focused on environmental sources of information, which have been well documented; in contrast, size perception research has focused on familiarity or has relied on distance information. An analysis of these two parallel bodies of work reveals their lack of equivalence. Furthermore, definitions of familiarity need environmental grounding, specifically concerning the amount of size variation among different tokens of an object. To demonstrate the independence of size and distance perception, subjects in two experiments were asked to estimate the sizes of common objects from memory and then to estimate both the sizes and the distances of a subset of such objects displayed in front of them. The experiments found that token variation was a critical variable in the accuracy of size estimations, whether from memory or with vision, and that distance had no impact at all on size perception. Furthermore, when distance information was good, size had no effect on distance estimation; in contrast, at far distances, the distances to token variable or unknown objects were estimated with less accuracy. The results suggest that size perception has been misconceptualized, so that the relevant research to understand its properties has not been undertaken. The size-distance invariance hypothesis was shown to be inadequate for both areas of research.     

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.     

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.     

Reference systems and the perception of tactual and haptic orientation

Adult subjects learned to identify bars differing in orientation. The bars were presented either tactually or haptically. In the first experiment, learning was followed by a transfer test with body posture changed by 90 deg. That is, if subjects originally learned with body upright, the transfer test was carried out with body reclined. Results of the transfer test indicated original learning of the tactually presented bars was done with respect to a body reference system and original learning of the haptically presented bars was done with respect to an environmental or gravity based reference system. In the second experiment, learning was followed by a transfer test using both a change of body posture and a change of stimulus modality from tactual to haptic or vice versa. Performance in this transfer test is interpreted in terms of a conceptual mediation hypothesis.     

The independence of size perception and distance perception.

Research on distance perception has focused on environmental sources of information, which have been well documented; in contrast, size perception research has focused on familiarity or has relied on distance information. An analysis of these two parallel bodies of work reveals their lack of equivalence. Furthermore, definitions of familiarity need environmental grounding, specifically concerning the amount of size variation among different tokens of an object. To demonstrate the independence of size and distance perception, subjects in two experiments were asked to estimate the sizes of common objects from memory and then to estimate both the sizes and the distances of a subset of such objects displayed in front of them. The experiments found that token variation was a critical variable in the accuracy of size estimations, whether from memory or with vision, and that distance had no impact at all on size perception. Furthermore, when distance information was good, size had no effect on distance estimation; in contrast, at far distances, the distances to token variable or unknown objects were estimated with less accuracy. The results suggest that size perception has been misconceptualized, so that the relevant research to understand its properties has not been undertaken. The size-distance invariance hypothesis was shown to be inadequate for both areas of research.     

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.     

The perception and representation of orientations: A study in the haptic modality

This research examines the haptic perception of orientations in the frontal plane in order to identify the nature of their representation. Blindfolded participants inserted the tip of the index finger into a thimble mounted on the extremity of a haptic interface and manually explored the orientation of a "virtual rod". After a short delay, participants had to reproduce the scanned orientation with the same hand without the guidance of the virtual rod. The analysis of the systematic errors showed that the recalled orientations were markedly biased toward the nearest diagonal in each quadrant with the exception of the orientations nearest to the vertical, which were biased toward the vertical. The variable error was greater for the oblique orientations than for the horizontal or vertical orientation. These results are interpreted with the Category-Adjustment model, which posits that orientations are categorically represented. We show that it is necessary to assume the existence of vertical and horizontal categories in addition to the previously postulated oblique categories to predict the error patterns observed in the present and former studies. The similarity of the error patterns in the visual and haptic modalities suggests that a common mechanism is at play in perceiving and reproducing orientations in both sensory modalities.     

Discrimination threshold for haptic volume perception of fingers and phalanges

Humans exhibit a remarkable ability to discriminate variations in object volume based on natural haptic perception. The discrimination thresholds for the haptic volume perception of the whole hand are well known, but the discrimination thresholds for haptic volume perception of fingers and phalanges are still unknown. In the present study, two psychophysical experiments were performed to investigate haptic volume perception in various fingers and phalanges. The configurations of both experiments were completely dependent on haptic volume perception from the fingers and phalanges. The participants were asked to blindly discriminate the volume variation of regular solid objects in a random order by using the distal phalanx, medial phalanx, and proximal phalanx of their index finger, middle finger, ring finger, and little finger. The discrimination threshold of haptic volume perception gradually decreases from the little finger to the index finger as well as from the proximal phalanx to the distal phalanx. Overall, both the shape of the target and the part of the finger in contact with the target significantly influence the precision of haptic perception of volume. This substantial data set provides detailed and compelling perspectives on the haptic system, including for discrimination of the spatial size of objects and for performing more general perceptual processes.