Mapping the tip of the tongue--deprivation, sensory sensitisation, and oral haptics

We investigated the impact of food deprivation on oral and manual haptic size perception of food and non-food objects. From relevant theories (need-proportional perception, motivated perception, frustrative nonreward, perceptual defence, and sensory sensitisation) at least four completely different competing predictions can be derived. Testing these predictions, we found across four experiments that participants estimated the length of both non-food and food objects to be larger when hungry than when satiated, which was true only for oral haptic perception, while manual haptic perception was not influenced by hunger state. Subjectively reported hunger correlated positively with estimated object size in oral, but not in manual, haptic perception. The impact of food deprivation on oral perception vanished after oral stimulations even for hungry individuals. These results favour a sensory sensitisation account maintaining that hunger itself does not alter oral perception but the accompanying lack of sensory stimulation of the oral mucosa. Both oral and manual haptic perception tended to underestimate actual object size. Finally, an enhancing effect of domain-target matching was found, ie food objects were perceived larger by oral than by manual haptics, while non-food objects were perceived larger by manual than by oral haptics.     

Assume a Spherical Chicken: Analytic Constraints,Inertia Tensor Information,and Wielded Rod Length Perception

Information associated with the inertia tensor is the preeminent explanation for haptic perception of object properties, notably wielded rod length. Critics counter that tensorial-based information requires non-tensorial supplementation (mass, torque). However, those critiques omit important constraints. With relevant constraints included, the inertia tensor alone completely specifies rod length. I list constraints inherent (but tacit) in haptic rod length perception, and show that object properties associated with the inertia tensor are invariant, even with constraints removed, by involving (a) longitudinal moment equivalents for rod mass and (b) derivatives of moments with respect to varying rotation axes. Analytic outcomes show tensorial-based information is a robust basis for wielded rod length perception, and suggest open questions for empirical exploration.     

Does perceived size depend on perceived distance? An argument from extended haptic perception

Two experiments were directed at the comparison between two perspectives on the perception of size achieved by probing the gap between two occluded distal surfaces by means of a hand-held rod. One perspective was the classical size—distance invariance hypothesis developed for the problem of visual size perception with a central role for perceived distance; the other was the hypothesis that the extended haptic perception of gap size is specific to a physical invariant λ of the dynamics of probing. Experiment 1 examined the relation between haptically perceived gap size and haptically perceived gap distance. No causal connection between the two was found, and all the variance in perceived size was accounted for by?. Experiment 2 manipulated the rotational inertia of the probe. Its effect was different for the two perceptions of size and distance, underscoring their independence. The indifference of perceived size to perceived distance was discussed in reference to identifying invariants for both the haptic and the visual perception of size at a distance.     

Haptically Perceiving the Length of One Rod by Means of Another

Two experiments examined perception of the extent of a target rod that is contacted and wielded by a second probe rod. The equations that define the dynamics of the probe-target system suggest a higher order moment of inertia as the relevant perceptual variable. The particular inertial term implicates parameters of both the target and probe rod. Experiment 1 manipulated the inertia of the target rod and Experiment 2 manipulated the inertia of the probe rod. In both experiments, perceived length was a function of the complex inertial term. Results were discussed in terms of haptic perception at a distance, the equivalence of inert and neural appendages, and the scaling of perceived to actual variables.     

Salient material properties and haptic volume perception: The influences of surface texture, thermal conductivity, and compliance

We investigated the influences of surface texture, thermal conductivity, and compliance on the haptic perception of the volume of small cubes. It was hypothesized that an object containing highly salient material properties would be perceived as larger in volume than the same object without these properties. Blindfolded subjects were asked to explore pairs of cubes differing in their material properties and to select the one with the larger volume. The results showed that, counterintuitively, a smooth cube was perceived as being significantly larger than a rough cube of the same physical volume, with average biases of about 19 %. Furthermore, cubes with a higher thermal conductivity were perceived as significantly larger than cubes with a lower thermal conductivity (average bias of about 7 %). In addition, the magnitude of the bias in this condition was not changed by increasing or decreasing the temperature of the test objects, suggesting that the effect of thermal conductivity could not be attributed directly to the heat flow. Finally, a hard cube was perceived as significantly larger than a soft cube of equal physical volume, with an average bias of about 25 %. These results reveal that the studied material properties have significant and consistent influences on the haptic perception of volume. The observed biases provide an indication of the levels at which the processing of haptic information on volume and material properties occurs.     

The situational effects on haptic perception of rod length

Three experiments were conducted to investigate situational effects (manipulation, range, and prior experience) on the haptic perception of rod length. Each rod was held between its two ends with one hand. In Experiment 1, 32 participants judged length of rods using different manipulations. Perceived lengths were found to be dependent on manner of manipulation and not necessarily equal to actual lengths. Different parameters were detected in different manipulations. In Experiment 2, 8 participants judged rod lengths by wielding rods of two ranges: long and short. Perceived length was found to be affected by the range of rods evaluated successively in a single set. In Experiment 3, 9 participants judged rod lengths after an experience of handling dense or light rods. Perceived length was found to be affected by prior experience. Results are discussed in terms of how rod lengths can be perceived accurately by haptic modality without involving direct perception.     

Rotational inertia and multimodal heaviness perception

Perceived heaviness of wielded objects has been shown to be a function of the objects’ rotational inertia—the objects’ resistance to rotational acceleration. Studies have also demonstrated that if virtual objects rotate faster than the actual wielded object (i.e., a rotational gain is applied to virtual object motion), the wielded object is perceived as systematically lighter. The present research determined whether combining those inertial and visual manipulations would influence heaviness perception in a manner consistent with an inertial model of multimodal heaviness perception. Rotational inertia and optical rotational gain of wielded objects were manipulated to specify inertia multimodally. Both visual and haptic manipulations significantly influenced perceived heaviness. The results suggest that rotational inertia is detected multimodally and that multimodal heaviness perception conforms to an inertial model.     

The effect of density and diameter on haptic perception of rod length

Three experiments on the effect of density and diameter on haptic perception of rod length are reported. In Experiment 1, the subjects wielded visually occluded rods of different densities. Perceived length was found to be affected by the density of the rod regardless of the actual length. In Experiment 2, three aluminum rods of different lengths with handles of four different diameters were wielded. Perceived length of the rod was found to be shorter as the diameter of the handle with which it was wielded increased. A diameter—length illusion was thereby produced. In Experiment 3, visually occluded rods of different diameters but of the same moment of inertia about thex-axis were wielded with the right hand, and tubes of different diameters were felt with the left hand. The subjects were instructed that their right hand was grasping a handle, and that the actual diameter of the rod could be felt with the left hand. Rods were perceived to be shorter if a larger diameter was felt with the left hand. The results showed that perceived length is not just a function of actual rod length, and that it is not accounted for by inertia only. The results are further discussed in terms of the nature of invariants and the effect of knowledge on perception.     

Poor shape perception is the reason reaches-to-grasp are visually guided online

Both judgment studies and studies of feedforward reaching have shown that the visual perception of object distance, size, and shape are inaccurate. However, feedback has been shown to calibrate feedfoward reaches-to-grasp to make them accurate with respect to object distance and size. We now investigate whether shape perception (in particular, the aspect ratio of object depth to width) can be calibrated in the context of reaches-to-grasp. We used cylindrical objects with elliptical cross-sections of varying eccentricity. Our participants reached to grasp the width or the depth of these objects with the index finger and thumb. The maximum grasp aperture and the terminal grasp aperture were used to evaluate perception. Both occur before the hand has contacted an object. In Experiments 1 and 2, we investigated whether perceived shape is recalibrated by distorted haptic feedback. Although somewhat equivocal, the results suggest that it is not. In Experiment 3, we tested the accuracy of feedforward grasping with respect to shape with haptic feedback to allow calibration. Grasping was inaccurate in ways comparable to findings in shape perception judgment studies. In Experiment 4, we hypothesized that online guidance is needed for accurate grasping. Participants reached to grasp either with or without vision of the hand. The result was that the former was accurate, whereas the latter was not. We conclude that shape perception is not calibrated by feedback from reaches-to-grasp and that online visual guidance is required for accurate grasping because shape perception is poor.     

Haptic interfaces for virtual environments: perceived instability and force constancy in haptic sensing of virtual surfaces.

Haptic interfaces are becoming more commonplace in virtual environment and teleoperation systems. There is a growing need to not only continue to improve hardware platforms and rendering algorithms, but evaluate human performance with haptic interfaces. This review summarizes two recent studies inspired by perception problems in using haptic interfaces to interact with virtual environments. The first study evaluated perceived quality of virtual haptic textures and discovered several types of perceived instability and their sources. We found that the buzzing type of perceived instability was most likely due to the mechanical resonance of the haptic interface hardware, and the aliveness type of perceived instability due to our inability to sense the slight movements of our hands in free space. The second study focused on the motor strategy employed during interaction with a virtual surface via a force-feedback haptic interface. We found that users tended to maintain a constant penetration force into a virtual surface when interacting with the surface. This can result in a reversal in perceived relative surface heights if the taller surface is rendered with a lower stiffness, thereby resulting in an erroneous perception of the virtual environment being rendered. For both studies, possible solutions to improving human perception of virtual and remote objects via hardware and/or software are discussed.     

Holding an object one is looking at: Kinesthetic information on the object’s distance does not improve visual judgments of its size

Visual judgments of distance are often inaccurate. Nevertheless, information on distance must be procured if retinal image size is to be used to judge an object’s dimensions. In the present study, we examined whether kinesthetic information about an object’s distance—based on the posture of the arm and hand when holding it—influences the object’s perceived size. Subjects were presented with a computer simulation of a cube. This cube’s position was coupled to that of a rod in the subject’s hand. Its size was varied between presentations. Subjects had to judge whether the cube they saw was larger than, smaller than, or the same size as a reference. On some presentations, a small difference was introduced between the positions of the rod and of the simulated cube. When the simulated cube was slightly closer than the rod, subjects judged the cube to be larger. When it was farther away, they judged it to be smaller. We show that these changes in perceived size are due to alterations in the cube’s distance from the subject rather than to kinesthetic information.     

Perceptually Equivalent Judgments Made Visually and via Haptic Sensory-Substitution Devices

ABSTRACT

According to the ecological theory of perception–action, perception is primarily of affordances, which are directly perceivable opportunities for behavior. The current study evaluated participants’ ability to use vision and haptic sensory-substitution devices to support perceptual judgments of affordances involving the task of passing through apertures. Sighted participants made perceptual judgments about whether they could walk through apertures of various widths and their level of confidence in each judgment, using unrestricted vision and, when blindfolded, using two haptic sensory-substitution instruments: a cane-like wooden rod and the Enactive Torch, a device that converts distance information into vibrotactile stimuli. The boundary between aperture widths that were judged as pass-through-able versus non-pass-through-able was statistically equivalent across sensory modalities. However, participants were not as confident in their judgments using the rod or Enactive Torch as they were using vision. Additionally, participants’ judgments with the haptic instruments were significantly more accurate than with vision. The results underscore the need to assess sensory-substitution devices in the context of functional behaviors.     

Grasp cueing shows obligatory attention to action goals

To understand the grounding of cognitive mechanisms in perception and action, we used a simple detection task to determine how long it takes to predict an action goal from the perception of grasp postures and whether this prediction is under strategic control. Healthy observers detected visual probes over small or large objects after seeing either a precision grip or a power grip posture. Although the posture was uninformative it induced attention shifts to the grasp-congruent object within 350 ms. When the posture predicted target appearance over the grasp-incongruent object, observers' initial strategic allocation of attention was overruled by the congruency between grasp and object. These results might help to characterize the human mirror neuron system and reveal how joint attention tunes early perceptual processes toward action prediction.     

Perceiving the Lengths of Rods That are Held But Not Wielded

The ambiguity inherent in the act of experimental abstraction is discussed particularly with respect to experiments that seem to prove the superfluity of active exploration in perception. For example, in the case of haptic perception of the extent of hand-held rods, the variable of the second moment of mass distribution-the moment of inertia-has been shown to predict perceived length; this variable is inherently active, identifying a system's resistance to rotational acceleration. Other sources have reported that the length of an unseen rod could be perceived even when the rods were not rotated (rendering second moment theoretically inaccessible). The first experiment of this article confirms this ability in the extreme case in which observers are instructed not to move the rod at all. Four more experiments are reported in which the relative roles of the second moment and of the first moment-the other plausible mechanical candidate-are evaluated. The first moment was a better predictor of perceived length in cases in which exploration was restricted, and the second moment was a better predictor in conditions in which exploration was not restricted, although each played some role in all conditions. These results are discussed in terms of the possibility of more than one kind of information specifying the same property.     

In search of a surrogate for touch: The effect of haptic imagery on perceived ownership

Previous research has shown that individuals value objects more highly if they own them, a finding commonly known as the endowment effect. In fact, simply touching an object can create a perception of ownership that produces the endowment effect. In this paper, we extend this line of research in several ways. First, we show that haptic imagery, or imagining touching an object, can have the same effect on perceived ownership as physical touch. We then demonstrate that haptic imagery can lead to perceptions of physical control, which in turn increase feelings of ownership. Moreover, the more vivid the haptic imagery, the greater the perception of control and the feeling of ownership. Implications for theory and practice are discussed.     

Haptic perception of linear extent.

The perception of linear extent in haptic touch appears to be anisotropic, in that haptically perceived extents can depend on the spatial orientation and location of the object and, thus, on the direction of exploratory motion. Experiments 1 and 2 quantified how the haptic perception of linear extent depended on the type of motion (radial or tangential to the body) when subjects explored different stimulus objects (raised lines or solid blocks) varying in length and in relative spatial location. Relatively narrow, shallow, raised lines were judged to be longer, by magnitude estimation, than solid blocks. Consistent with earlier reports, stimuli explored with radial arm motions were judged to be longer than identical stimuli explored with tangential motions; this difference did not depend consistently on the lateral position of the stimulus object, the direction of movement (toward or away from the body), or the distance of the hand from the body but did depend slightly on the angular position of the shoulder. Experiment 3 showed that the radial-tangential effect could be explained by temporal differences in exploratory movements, implying that the apparent anisotropy is not intrinsic to the structure of haptic space.     

Haptic perception of linear extent

The perception of linear extent in haptic touch appears to be anisotropic, in that haptically perceived extents can depend on the spatial orientation and location of the object and, thus, on the direction of exploratory motion. Experiments 1 and 2 quantified how the haptic perception of linear extent depended on the type of motion (radial or tangential to the body) when subjects explored different stimulus objects (raised lines or solid blocks) varying in length and in relative spatial location. Relatively narrow, shallow, raised lines were judged to be longer, by magnitude estimation, than solid blocks. Consistent with earlier reports, stimuli explored with radial arm motions were judged to be longer than identical stimuli explored with tangential motions; this difference did not depend consistently on the lateral position of the stimulus object, the direction of movement (toward or away from the body), or the distance of the hand from the body but did depend slightly on the angular position of the shoulder. Experiment 3 showed that the radial-tangential effect could be explained by temporal differences in exploratory movements, implying that the apparent anisotropy is not intrinsic to the structure of haptic space.     

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.     

Geometrics and dynamics of a rod determine how it is used for reaching

Displacing an object with a hand-held rod provided a simple paradigm for studying tool use. The authors asked how reaching was affected by manipulations of rod properties. Adults held a rod (length =.10 to 1.5 m), with its tip in the air; walked toward an object on a table; chose a place to stop; and displaced the object with the rod's tip. In 3 experiments (Ns = 9, 22, and 17 participants), the authors manipulated rod length, mass, and mass distribution to determine whether and how geometric and dynamic properties affected the chosen distance and the posture. Both the chosen stopping distance and the postures were well accommodated to rod characteristics. Postural adaptations took place only in the arm, which was organized as a synergy. Predictably, rod length explained most of the variance, but small and reliable differences in both distance and posture depended on mass and mass distribution. The chosen distance anticipated not only rod length but also the upcoming posture needed to control the rod.     

Haptically perceiving the distances reachable with hand-held objects

Nine experiments are reported on the ability of people to perceive the distances reachable with hand-held rods that they could wield by movements about the wrist but not see. An observed linear relation between perceived and actual reaching distances with the rods held at one end was found to be unaffected by the density of the rods, the direction relative to the body in which they were wielded, and the frequency at which they were wielded. Manipulating (a) the position of an attached weight on an otherwise uniformly dense rod and (b) where a rod was grasped revealed that perceived reaching distance was governed by the principal moment(s) of inertia (I) of the hand-rod system about the axis of rotation. This dependency on moment of inertia (I) was found to hold even when the reaching distance was limited to the length of rod extending beyond an intermediate grasp. An account is given of the haptic subsystem (hand-muscles-joints-nerves) as a smart perceptual instrument in the Runeson (1977) sense, characterizable by an operator equation in which one operator functionally diagonalizes the inertia and strain tensors. Attunement to the invariants of the inertia tensor over major physical transformations may be the defining property of the haptic subsystem. This property is discussed from the Gibsonian (ecological) perspectives of information as invariants over transformations and of intentions as extraordinary constraints on natural law.