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.     

Motion versus position in the perception of head-centred movement

Abstract. Observers can recover motion with respect to the head during an eye movement by comparing signals encoding retinal motion and the velocity of pursuit. Evidently there is a mismatch between these signals because perceived head-centred motion is not always veridical. One example is the Filehne illusion, in which a stationary object appears to move in the opposite direction to pursuit. Like the motion aftereffect, the phenomenal experience of the Filehne illusion is one in which the stimulus moves but does not seem to go anywhere. This raises problems when measuring the illusion by motion nulling because the more traditional technique confounds perceived motion with changes in perceived position. We devised a new nulling technique using global-motion stimuli that degraded familiar position cues but preserved cues to motion. Stimuli consisted of random-dot patterns comprising signal and noise dots that moved at the same retinal 'base' speed. Noise moved in random directions. In an eye-stationary speed-matching experiment we found noise slowed perceived retinal speed as 'coherence strength' (ie percentage of signal) was reduced. The effect occurred over the two-octave range of base speeds studied and well above direction threshold. When the same stimuli were combined with pursuit, observers were able to null the Filehne illusion by adjusting coherence. A power law relating coherence to retinal base speed fit the data well with a negative exponent. Eye-movement recordings showed that pursuit was quite accurate. We then tested the hypothesis that the stimuli found at the null-points appeared to move at the same retinal speed. Two observers supported the hypothesis, a third partially, and a fourth showed a small linear trend. In addition, the retinal speed found by the traditional Filehne technique was similar to the matches obtained with the global-motion stimuli. The results provide support for the idea that speed is the critical cue in head-centred motion perception.     

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.     

Gravitoinertial force versus the direction of balance in the perception and control of orientation

Curthoys and Wade (1990) appeal to land-based data in defending the traditional view that stimulation of the otolith organs leads to perception of the direction of gravitoinertial force. However, such data do not permit rejection of the hypothesis that the perception of orientation is based on the dynamically defined direction of balance, which is qualitatively different from the kinetically defined direction of gravitoinertial force. Furthermore, the approach of Curthoys and Wade is compromised by their failure to consider relations between the perception and control of orientation. Such relations must be considered in developing a general theory of orientation.     

Recognizing familiar objects by hand and foot: Haptic shape perception generalizes to inputs from unusual locations and untrained body parts

The limits of generalization of our 3-D shape recognition system to identifying objects by touch was investigated by testing exploration at unusual locations and using untrained effectors. In Experiments 1 and 2, people found identification by hand of real objects, plastic 3-D models of objects, and raised line drawings placed in front of themselves no easier than when exploration was behind their back. Experiment 3 compared one-handed, two-handed, one-footed, and two-footed haptic object recognition of familiar objects. Recognition by foot was slower (7 vs. 13 s) and much less accurate (9 % vs. 47 % errors) than recognition by either one or both hands. Nevertheless, item difficulty was similar across hand and foot exploration, and there was a strong correlation between an individual’s hand and foot performance. Furthermore, foot recognition was better with the largest 20 of the 80 items (32 % errors), suggesting that physical limitations hampered exploration by foot. Thus, object recognition by hand generalized efficiently across the spatial location of stimuli, while object recognition by foot seemed surprisingly good given that no prior training was provided. Active touch (haptics) thus efficiently extracts 3-D shape information and accesses stored representations of familiar objects from novel modes of input.     

On the perception of shape from shading

The extraction of three-dimensional shape from shading is one of the most perceptually compelling, yet poorly understood, aspects of visual perception. In this paper, we report several new experiments on the manner in which the perception of shape from shading interacts with other visual processes such as perceptual grouping, preattentive search (“pop-out”), and motion perception. Our specific findings are as follows: (1) The extraction of shape from shading information incorporates at least two “assumptions” or constraints—first,that there is a single light source illuminating the whole scene, and second, that the light is shining from “above” in relation to retinal coordinates. (2) Tokens defined by shading can serve as a basis for perceptual grouping and segregation. (3) Reaction time for detecting a single convex shape does not increase with the number of items in the display. This “pop-out” effect must be based on shading rather than on differences in luminance polarity, since neither left-right differences nor step changes in luminance resulted in pop-out. (4) When the subjects were experienced, there were no search asymmetries for convex as opposed to concave tokens, but when the subjects were naive, cavities were much easier to detect than convex shapes. (5) The extraction of shape from shading can also provide an input to motion perception. And finally, (6) the assumption of “overhead illumination” that leads to perceptual grouping depends primarily on retinal rather than on “phenomenal” or gravitational coordinates. Taken collectively, these findings imply that the extraction of shape from shading is an “early” visual process that occurs prior to perceptual grouping, motion perception, and vestibular (as well as “cognitive”) correction for head tilt. Hence, there may be neural elements very early in visual processing that are specialized for the extraction of shape from shading.     

Two kinds of adaptation in the constancy of visual direction and their different effects on the perception of shape and visual direction

Adaptation in the constancy of visual direction can be obtained under two radically different conditions, called eye-movement adaptation and field adaptation. Adaptation resulting from these conditions and from a “normal” condition was measured with a newly developed estimation test. Eye-movement adaptation was found to cause an alteration of compensatory eye movements. It apparently consists of a changed evaluation of eye movements, as demonstrated by two different pointing tests. A form test where the shape of a large oblong is set to look square also confirmed this interpretation. After field adaptation, a pointing test did not register a change, but an adaptation effect could be measured with a forward direction test. This test and a square test where no eye movements were permitted proved to be specific to field adaptation; they measured no effect after eye-movementadaptation. The normal adaptation condition Was apparently equivalent to the eye-movement adaptation condition. Its effect could be measured only with a pointing test. When we changed the normal adaptation condition so that frequent saccades were made during head turning, strong effects were measured with the two tests that were specific to field adaptation.     

Contrasting accounts of direction and shape perception in short-range motion: Counterchange compared with motion energy detection

It has long been thought (e.g., Cavanagh & Mather, 1989) that first-order motion-energy extraction via space-time comparator-type models (e.g., the elaborated Reichardt detector) is sufficient to account for human performance in the short-range motion paradigm (Braddick, 1974), including the perception of reverse-phi motion when the luminance polarity of the visual elements is inverted during successive frames. Human observers’ ability to discriminate motion direction and use coherent motion information to segregate a region of a random cinematogram and determine its shape was tested; they performed better in the same-, as compared with the inverted-, polarity condition. Computational analyses of short-range motion perception based on the elaborated Reichardt motion energy detector (van Santen & Sperling, 1985) predict, incorrectly, that symmetrical results will be obtained for the same- and inverted-polarity conditions. In contrast, the counterchange detector (Hock, Schöner, & Gilroy, 2009) predicts an asymmetry quite similar to that of human observers in both motion direction and shape discrimination. The further advantage of counterchange, as compared with motion energy, detection for the perception of spatial shape- and depth-from-motion is discussed.     

Haptic perception of partial-rod lengths with the rod held stationary or wielded

Three experiments on the haptic perception of partial-rod lengths are reported. The rods were gripped between the two ends and held horizontal. The subjects held the rods stationary; the distribution of mass of the segment in front of the hand was fixed, while the distribution of mass of the segment behind the hand was varied. Perceived forward length was found to be significantly affected by the distribution of mass of the backward segment. Similar results were obtained when the rods were wielded. The results indicated that partial-rod lengths are specified by functions of mechanical perturbations acting on the hand, and not ay the breaking up of the first moment of mass or the moment of inertia of the rod by attention as suggested previously by others. The results are also discussed with respect to invariant detection and attention.     

On the perception of shape from shading.

The extraction of three-dimensional shape from shading is one of the most perceptually compelling, yet poorly understood, aspects of visual perception. In this paper, we report several new experiments on the manner in which the perception of shape from shading interacts with other visual processes such as perceptual grouping, preattentive search ("pop-out"), and motion perception. Our specific findings are as follows: (1) The extraction of shape from shading information incorporates at least two "assumptions" or constraints--first, that there is a single light source illuminating the whole scene, and second, that the light is shining from "above" in relation to retinal coordinates. (2) Tokens defined by shading can serve as a basis for perceptual grouping and segregation. (3) Reaction time for detecting a single convex shape does not increase with the number of items in the display. This "pop-out" effect must be based on shading rather than on differences in luminance polarity, since neither left-right differences nor step changes in luminance resulted in pop-out. (4) When the subjects were experienced, there were no search asymmetries for convex as opposed to concave tokens, but when the subjects were naive, cavities were much easier to detect than convex shapes. (5) The extraction of shape from shading can also provide an input to motion perception. And finally, (6) the assumption of "overhead illumination" that leads to perceptual grouping depends primarily on retinal rather than on "phenomenal" or gravitational coordinates. Taken collectively, these findings imply that the extraction of shape from shading is an "early" visual process that occurs prior to perceptual grouping, motion perception, and vestibular (as well as "cognitive") correction for head tilt. Hence, there may be neural elements very early in visual processing that are specialized for the extraction of shape from shading.     

Haptic perception of the horizontal by blind and low-vision individuals.

We examined haptic perception of the horizontal in visually impaired people. Blind people (late blind and congenitally blind), persons with very low vision, and blindfolded sighted individuals felt raised-line drawings of jars at four angles. They had to demonstrate their understanding that water remains horizontal, despite jar tilt, by selecting the correct raised-line drawing given four choices. Low-vision subjects, with near perfect scores, performed significantly better than the other groups of subjects. While the late-blind and blindfolded sighted subjects performed slightly better than the congenitally blind participants, the difference between the late-blind and congenitally blind groups was nonsignificant. The performance of the congenitally blind subjects indicates that visual experience is not necessary for the development of an understanding that water level stays horizontal, given container tilt.     

Starting position of movement and perception of angle of trunk flexion while standing with eyes closed.

The present study attempted to investigate the effect of position on the perception of angle of trunk flexion while standing. For this purpose, the range effect was factored out by setting the constant target angle at 10 degrees, with varied starting positions of trunk flexion. We found that subjects underestimated angle of trunk flexion when the starting position was close to a quiet standing posture, overestimated when close to maximum trunk flexion, and correctly perceived it when at the middle position. Less perceptual distortion was observed at the positions close to maximum trunk flexion in the present study than in our previous one, in which various target angles of trunk flexion were reproduced from a quiet standing posture. The reduced distortion in the present study was believed to have resulted from factoring out the range effect. The flexion angle of the hip joint changed in tandem with that of the trunk, while very little movement was observed in the ankle, knee, and neck joints. Judging from the changing pattern of hip-joint angle, the muscle activity of the erector spinae and biceps femoris increased gradually to 90 degrees trunk flexion. In contrast, the actual increment of muscle activity reached zero or a minimum value at the middle angles as the angle of trunk flexion increased. It was assumed that the abrupt change in kinesthetic information associated with muscle activity exerted a great influence on the perception of trunk flexion.     

Haptic orientation perception benefits from visual experience: evidence from early-blind, late-blind, and sighted people

Early-blind, late-blind, and blindfolded sighted participants were presented with two haptic allocentric spatial tasks: a parallel-setting task, in an immediate and a 10-sec delay condition, and a task in which the orientation of a single bar was judged verbally. With respect to deviation size, the data suggest that mental visual processing filled a beneficial role in both tasks. In the parallel-setting task, the early blind performed more variably and showed no improvement with delay, whereas the late blind did improve, but less than the sighted did. In the verbal judgment task, both early- and late-blind participants displayed larger deviations than the sighted controls. Differences between the groups were absent or much weaker with respect to the haptic oblique effect, a finding that reinforces the view that this effect is not of visual origin. The role of visual processing mechanisms and visual experience in haptic spatial tasks is discussed.     

Extending the perception of shape from known to unknown shading

Two experiments are reported which demonstrate the effects of light-source position as an intervening variable upon the perception of relief in pictures. In the first experiment, it is shown that the pattern of light (attached shadow) falling upon forms that can be recognized as having unambiguous surface relief (concave and convex parts) influences the perception of forms with ambiguous surface relief. In the second experiment it is demonstrated that cast shadows may also determine the interpretation of ambiguous relief. These findings suggest that light-source position, implicitly or explicitly, mediates the interpretation of surface relief in pictures.     

Anticipation of tennis-shot direction from whole-body movement: The role of movement amplitude and dynamics

While recent studies indicate that observers are able to use dynamic information to anticipate whole-body actions like tennis shots, it is less clear whether the action’s amplitude may also allow for anticipation. We therefore examined the role of movement dynamics and amplitude for the anticipation of tennis-shot direction. In a previous study, movement dynamics and amplitude were separated from the kinematics of tennis players’ forehand groundstrokes. In the present study, these were manipulated and tennis shots were simulated. Three conditions were created in which shot-direction differences were either preserved or removed: Dynamics-Present–Amplitude-Present (D^PA^P), Dynamics-Present–Amplitude-Absent (D^PA^A), and Dynamics-Absent–Amplitude-Present (D^AA^P). Nineteen low-skill and 15 intermediate-skill tennis players watched the simulated shots and predicted shot direction from movements prior to ball-racket contact only. Percent of correctly predicted shots per condition was measured. On average, both groups’ performance was superior when the dynamics were present (the D^PA^P and D^PA^A conditions) compared to when it was absent (the D^AA^P condition). However, the intermediate-skill players performed above chance independent of amplitude differences in shots (i.e., both the D^PA^P and D^PA^A conditions), whereas the low-skill group only performed above chance when amplitude differences were absent (the D^PA^A condition). These results suggest that the movement’s dynamics but not their amplitude provides information from which tennis-shot direction can be anticipated. Furthermore, the successful extraction of dynamical information may be hampered by amplitude differences in a skill-dependent manner.     

Causal agency and the perception of force

In the Michotte task, a ball (X) moves toward a resting ball (Y). In the moment of contact, X stops und Y starts moving. Previous studies have shown that subjects tend to view X as the causal agent (“X launches Y”) rather than Y (“Y stops X”). Moreover, X tends to be attributed more force than Y (force asymmetry), which contradicts the laws of Newtonian mechanics. Recent theories of force asymmetry try to explain these findings as the result of an asymmetrical identification with either the (stronger) agent or the (weaker) patient of the causal interaction. We directly tested this assumption by manipulating attributions of causal agency while holding the properties of the causal interaction constant across conditions. In contrast to previous accounts, we found that force judgments stayed invariant across conditions in which assignments of causal agency shifted from X to Y and that even those subjects who chose Y as the causal agent gave invariantly higher force ratings to X. These results suggest that causal agency and the perception of force are conceptually independent of each other. Different possible explanations are discussed.     

The duration of response inhibition in the stop-signal paradigm varies with response force

In a previous study, we have found that the speed of stopping a response is delayed when response readiness is reduced by cuing the probability of no-go trials [Acta Psychol. 111 (2002) 155]. Other investigators observed that responses are more forceful when the probability to respond is low than when it is high (e.g. [Quart. J. Exp. Psychol. A 50 (1997) 405]). In this study, the hypothesis was tested that low probability responses are more forceful than high probability responses and that these responses are more difficult to stop. Subjects performed on a choice reaction task and on three tasks with respectively 100%, 80%, and 50% response probabilities. Stop signals were presented on 30% of the trials, instructing subjects to withhold their response. Response force on non-signal (go) trials and the duration of response inhibition on signal (stop) trials increased as response probability decreased. This pattern of findings was interpreted to support the hypothesis predicting that stopping is more difficult when response readiness is low than when it is high.