Haptic perception of virtual surfaces: scaling subjective qualities and interstimulus differences

We examined, in two experiments, the perceptual scaling of the properties of haptically examined virtual surfaces, and the way in which these properties subjectively combine. Participants used a consistent movement pattern to explore, with a stylus, virtual surfaces generated by a force-feedback device. In experiment 1, four surface properties (bump size, friction, resistance to normal force, and vibration amplitude) were varied individually, in separate blocks of trials. Free magnitude estimates of the subjective dimensions corresponding to these properties showed that all four dimensions conformed closely to the power law, except at very low stimulus values. Exponents for bump size (0.80) and stiffness (1.01) were consistent with values established in earlier work with direct touch of real surfaces. Surprisingly, the exponent for stickiness, not previously measured, was much higher than those for other dimensions (1.49). In experiment 2, dimensional combinations were analyzed by asking subjects to give magnitude estimates of the subjective difference between pairs of surfaces differing in one or two properties. Magnitude estimates of a given one-dimensional difference were generally larger when the subject was pressing down firmly on the surfaces, than when only gentle downward pressure was required; this result suggests that forces generated when a surface is haptically examined are interpreted as invariant indicators of the magnitudes of the surface properties themselves. Estimates of one-dimensional differences were also used to make predictions of two-dimensional differences, under assumptions of dimensional integrality and separability. The results fell between these two sets of predictions, indicating only modest integration of surface properties examined with indirect touch.     

Learning rhythmic hand movements

Twenty-seven subjects tracked targets moving up and down in a straight-line path formed from the sum of three sine waves. There were nine such tracks varying in average frequency and length of repeating subunit. The latter variable had little effect on performance, but low frequency targets were tracked better than high frequency targets. Only the component frequencies present in the tracks were reproduced to any extent in the subjects' performance. For components in different tracks the highest frequencies were reproduced with the lowest amplitude. However, for components within the track the highest frequency component tended to be reproduced with the highest amplitude. In addition the greatest amount of learning appeared in the highest frequency component within a track.     

Grain orientation effects on dynamic strength of FCC multicrystals at low shock pressures: a hydrodynamic instability study

Variability in local dynamic plasticity due to material anisotropy in polycrystalline metals is likely to be important on damage nucleation and growth at low pressures. Hydrodynamic instabilities could be used to study these plasticity effects by correlating measured changes in perturbation amplitudes at free surfaces to local plastic behaviour and grain orientation, but amplitude changes are typically too small to be measured reliably at low pressures using conventional diagnostics. Correlations between strength at low shock pressures and grain orientation were studied in copper (grain size?≈?800 μm) using the Richtmyer–Meshkov instability with a square-wave surface perturbation (wavelength = 150 μm, amplitude = 5 μm), shocked at 2.7 GPa using symmetric plate impacts. A Plexiglas window was pressed against the peaks of the perturbation, keeping valleys as free surfaces. This produced perturbation amplitude changes much larger than those predicted without the window. Amplitude reductions from 64 to 88% were measured in recovered samples and grains oriented close to 〈0 0 1〉 parallel to the shock had the largest final amplitude, whereas grains with shocks directions close to 〈1 0 1〉 had the lowest. Finite element simulations were performed with elastic-perfectly plastic models to estimate yield strengths leading lead to those final amplitudes. Anisotropic elasticity and these yield strengths were used to calculate the resolved shear stresses at yielding for the two orientations. Results are compared with reports on orientation dependence of dynamic yielding in Cu single crystals and the higher values obtained suggest that strength estimations via hydrodynamic instabilities are sensitive to strain hardening and strain rate effects.     

Smoothness of the velocity field and three-dimensional surface detection from optic flow

Five experiments were conducted to determine the importance of smoothness of the velocity field in detecting 3-D surfaces from optic flow. Subjects were presented with optic flow displays simulating either points positioned on a corrugated 3-D surface or points randomly positioned within a 3-D volume. The subject’s task was to indicate whether or not the display appeared to be a 3-D surface. Smoothness of the velocity field was examined by systematically varying the speed of individual velocities in the flow field according to a Gaussian distribution withM = 0 andSD = σ. Variations in frequency, amplitude, density, and surface complexity were also examined. Detection of the corrugated surfaces systematically declined with an increase in σ. An increase in frequency of the corrugation for simple (single-frequency corrugation) surfaces resulted in a decrease in surface detection accuracy. Accuracy increased with an increase in density and amplitude for both simple and complex (multiplefrequency corrugation) surfaces. An analysis of the deformation of the displays predicted performance on the basis of human observers, providing further support for the importance of deformation for 3-D surface detection.     

Pursuit eye movement in tracking a target with two sine waves

It has been reported that, when subjects track a moving target comprising two sine waves, the tracking lag for the faster sine wave component is much smaller than that for the slower one. To understand this phenomenon further, this study examined frequency characteristics of the human tracking response and pursuit eye movement in response to the target with two sine waves of equal amplitude. Analysis indicates that, while the tracking response has very large phase lag for the slower sine wave component and very small phase lag for the faster one, the pursuit eye movement has a conspicuously large phase lead for the slower component and very small phase lag for the faster one. It is suggested that the lack of synchrony of the pursuit eye movement with slower component of the target may be associated with the inferiority of the slower component to the faster one in tracking lag.     

Effects of sine wave combinations on the development of precognitive mode in pursuit tracking

A pursuit tracking task was carried out to investigate the effects of combinations of sine waves on the development of precognitive mode, which is defined as open-loop mode with little feedback. Subjects were asked to track the targets, which contained two or three sine waves as components, and then to reproduce the target motion after the target had been removed. Frequency characteristics of tracking revealed the superiority of the faster component over the slower components in terms of both amplitude ratio and tracking lag. Subjects' reproduction after removing the target demonstrated that in general, subjects could learn and memorize also the slower component motion, which had yielded inferior performance during the tracking period. These results are discussed in terms of a model based on successive organization of perception.     

Aging and the discrimination of 3-D shape from motion and binocular disparity

Two experiments evaluated the ability of younger and older adults to visually discriminate 3-D shape as a function of surface coherence. The coherence was manipulated by embedding the 3-D surfaces in volumetric noise (e.g., for a 55?% coherent surface, 55?% of the stimulus points fell on a 3-D surface, while 45?% of the points occupied random locations within the same volume of space). The 3-D surfaces were defined by static binocular disparity, dynamic binocular disparity, and motion. The results of both experiments demonstrated significant effects of age: Older adults required more coherence (tolerated volumetric noise less) for reliable shape discrimination than did younger adults. Motion-defined and static-binocular-disparity-defined surfaces resulted in similar coherence thresholds. However, performance for dynamic-binocular-disparity-defined surfaces was superior (i.e., the observers?? surface coherence thresholds were lowest for these stimuli). The results of both experiments showed that younger and older adults possess considerable tolerance to the disrupting effects of volumetric noise; the observers could reliably discriminate 3-D surface shape even when 45?% of the stimulus points (or more) constituted noise.     

Effects of two tasks and two levels of difficulty upon surface electrogastrograms

The effects of differentiation, novelty, and difficulty of ability tasks upon electrogastrographic activity of healthy subjects during digestion were investigated. Electrical recording of activity of the stomach by means of surface electrodes was performed in 40 healthy volunteers before and after easy or hard tasks. 20 subjects had to complete puzzles; the others had mental arithmetic. Both groups were matched in terms of scores on easy and difficult tasks. Baseline recordings were performed before each trial. The number of waves with peak amplitude greater than 100 mu v on electrogastrographic recording during each time span was measured, using a visual analysis. There was a significant decrease in number of waves/min, during task performance. A more pronounced decrease was produced by subjects working on puzzles than those working on mental calculation and by subjects working on easy tasks than those working on difficult tasks when the easy preceded the difficult ones. A larger decrease was obtained when the tasks of comparable difficulty were performed first. Emotional correlates such as anger and irritability were suggested to play a role in the interpretation of results.     

Ground reaction force adaptations during cross-slope walking and running

Though transversely inclined (cross-sloped) surfaces are prevalent, our understanding of the biomechanical adaptations required for cross-slope locomotion is limited. The purpose of this study was to examine ground reaction forces (GRF) in cross-sloped and level walking and running. Nine young adult males walked and ran barefoot along an inclinable walkway in both level (0°) and cross-slope (10°) configurations. The magnitude and time of occurrence of selected features of the GRF were extracted from the force plate data. GRF data were collected in level walking and running (LW and LR), inclined walking and running up-slope (IWU and IRU), and down-slope (IWD and IRD), respectively. The GRF data were then analyzed using repeated measures MANOVA. In the anteroposterior direction, the timing of the peak force values differed across conditions during walking (p=.041), while the magnitude of forces were modified across conditions for running (p=.047). Most significant differences were observed in the mediolateral direction, where generally force values were up to 390% and 530% (p<.001) larger during the cross-slope conditions compared to level for walking and running, respectively. The maximum force peak during running occurred earlier at IRU compared to the other conditions (p≤.031). For the normal axis a significant difference was observed in the first maximum force peak during walking (p=.049). The findings of this study showed that compared to level surfaces, functional adaptations are required to maintain forward progression and dynamic stability in stance during cross-slope walking and running.     

Parameters affecting gap detection in the rat

The present research used a startle amplitude reduction paradigm to investigate the ability of the rat’s auditory system to track rapidly changing acoustic transients. Specifically examined was the ability of brief gaps in otherwise continuous noise to reduce the amplitude of a subsequently elicited acoustic startle reflex. The duration of the gap, time between gap offsetand startle elicitation (the interstimulus interval or ISI), and rise-fall characteristics of the gap were systematically varied. Consistent with previous research, gaps reliably reduced startle amplitude. Gaps 2 msec long were reliably detected, and a 50-msec ISI resulted in the greatest amplitude reduction. Gaps presented at short ISIs produced amplitude reduction that followed a different time course than did gaps presented at longer ISIs. These results may reflect differences in the length oftime available for the processing of the stimulus and may involve two different processes.     

Vortex re-capturing and kinematics in human underwater undulatory swimming

To maximize swimming speed athletes copy fish undulatory swimming during the underwater period after start and turn. The anatomical limitations may lead to deviations and may enforce compensating strategies. This has been investigated by analyzing the kinematics of two national female swimmers while swimming in a still water pool. Additionally, the flow around and behind the swimmers was measured with the aid of time-resolved particle image velocimetry (TR-2D-PIV). As compared to fish, the swimmers used undulatory waves characterized by much higher Strouhal numbers but very similar amplitude distributions along the body and Froude efficiencies. Vortices generated in the region of strongly flexing joints are suitable to be used pedally to enhance propulsion (vortex re-capturing). Complementing studies using numerical and technical modeling will help us to probe the efficiency of observed mechanisms and further improvements of the human strategy.     

Conditioned Ethanol Aversion in Rats Induced by Voluntary Wheel Running, Forced Swimming, and Electric Shock: An Implication for Aversion Therapy of Alcoholism

This study was planned to demonstrate rats' acquisition of aversion to ethanol solution consumed before voluntary running, forced swimming, or electric shock delivery. Wistar rats under water deprivation were allotted to four groups of eight rats each, and all rats were allowed to drink 5% ethanol solution for 15 min. Immediately after the ethanol drinking, rats of Group Run were put into the individual running wheels for 15 min, those of Group Swim were put into the individual swimming pools for 15 min, those of Group Shock received electric shocks for 15 min (15 0.45-mA shocks of 0.7s with the intershock interval of 1 min) in the individual small chambers, and those of Group Control were directly returned back to the home cages. This procedure was repeated for six days, followed by a two-day choice test of ethanol aversion where a bottle containing 5% ethanol solution and a bottle of tap water were simultaneously presented for 15 min. In the test, Groups Run, Swim, and Shock drank ethanol solution significantly less than tapwater, while Group Control drank both fluids equally. The effects of running, swimming, and shock were equivalent. The successful demonstration of acquired ethanol aversion induced by exercise (running and swimming) or shock in rats suggests an avenue for clinical application of exercise and shock treatments for human alcoholics, though there are many issues to be resolved before the practical use.     

Timeout from a stimulus correlated with the extinction component of a multiple schedule

Four groups of pigeons were trained to discriminate between green and red. Pecks on a second key produced a timeout from the schedule in effect for 30 sec. For two of the groups, this timeout response turned off all the lights in the chamber (Blackout), while for the other two, only the key-lights were turned off (No Blackout). For one of the Blackout groups and one of the No Blackout groups, responses on the discrimination key during the extinction component (S^?) also resulted in a mild electric shock. Blackout groups produced more timeouts during S^? than did No Blackout groups, but electric shock punishment suppressed, rather than enhanced, timeout responding. These findings suggest a need for reevaluation of the hypothesis that the timeout response is an escape from an aversive S^?.     

Conditioned ethanol aversion in rats induced by voluntary wheel running,forced swimming,and electric shock: An implication for aversion therapy of alcoholism

This study was planned to demonstrate rats’ acquisition of aversion to ethanol solution consumed before voluntary running, forced swimming, or electric shock delivery. Wistar rats under water deprivation were allotted to four groups of eight rats each, and all rats were allowed to drink 5% ethanol solution for 15 min. Immediately after the ethanol drinking, rats of Group Run were put into the individual running wheels for 15 min, those of Group Swim were put into the individual swimming pools for 15 min, those of Group Shock received electric shocks for 15 min (15 0.45-mA shocks of 0.7s with the intershock interval of 1 min) in the individual small chambers, and those of Group Control were directly returned back to the home cages. This procedure was repeated for six days, followed by a two-day choice test of ethanol aversion where a bottle containing 5% ethanol solution and a bottle of tap water were simultaneously presented for 15 min. In the test, Groups Run, Swim, and Shock drank ethanol solution significantly less than tap water, while Group Control drank both fluids equally. The effects of running, swimming, and shock were equivalent. The successful demonstration of acquired ethanol aversion induced by exercise (running and swimming) or shock in rats suggests an avenue for clinical application of exercise and shock treatments for human alcoholics, though there are many issues to be resolved before the practical use.     

EEG alpha asymmetry: task difficulty and hypnotizability

Parieto-occipital EEG alpha was recorded bilaterally, while 20 high- and 20 low-hypnotizable women performed one left-hemisphere and one right-hemisphere task of low difficulty and two other comparable tasks of high difficulty. Every task was performed twice, once with eyes open and once with eyes closed. All subjects were right-handed. The tasks were originally selected to be of high and low difficulty. The subjective rating of task-difficulty was also evaluated. The integrated amplitude alpha and the alpha ratio (R-L/R + L) were the dependent variables. The highly hypnotizable women showed significantly higher alpha amplitude in eyes-closed condition than the low scorers; this difference disappeared during task performance and in the eyes-open condition. The left-tasks showed lower alpha amplitude in both hemispheres than right-tasks and baseline. The right-hemisphere alpha amplitude was lower than left in all experimental conditions. On tasks of high and low difficulty there was different hemispheric behavior on right and left tasks. Performance reflecting the right and left hemispheres in the low-difficulty condition showed no changes between baseline, right- and left-tasks, while under high difficulty there was a decrease in alpha amplitude in the right and even more marked decrease in the left hemisphere during left-tasks. The pattern of task effects for ratio scores was the same as for alpha amplitude, however, despite the analysis of alpha scores, an interaction of hypnotizability X task-difficulty was detected. The highly hypnotizable women showed less negative alpha ratio during a task of low difficulty than during tasks of high difficulty; the reverse was true for the low-hypnotizable women. Finally, the highly hypnotizable subjects showed less subjective difficulty during performance than the low scorers.     

Behavioral assessment of pain detection and tolerance in monkeys

Cebus albifrons monkeys received electrical stimulation of the hindlimbs over a wide range of intensities. On trials signalled by a blue light, the animals were permitted to escape shock by pressing a disc, or shock was terminated after 8 sec (free escape). Escape force (disc pressure) was found to increase as stimulation intensity increased well beyond escape threshold, while shock duration curves reached plateau at the mid-range of intensities. The shock duration curves generated by free escape responses should be comparable to pain detection functions obtained by similar operations in humans, and the curves were stable over months of testing, as is generally found in pain-detection studies. On trials signalled by a red light, the animals received intense tail shock immediately after escape responses (punished escape), or, if they endured leg shock for 8 sec without escaping, then they could avoid tail shock with a panel press. The shock duration curves generated by punished escape responses should be comparable to pain tolerance functions as defined for human subjects, and the escape thresholds were considerably higher on red-light trials. As in human studies, the tolerance curves were not stable over repeated testing sessions, and some feature of the paradigm forced a progression toward extremely high levels of tolerance.     

An Energetic Comparison of Symmetrical and Asymmetrical Human Gait

This article contrasts the mechanical energy profiles of asymmetrical galloping with those of symmetrical running in adult humans. Seven female subjects were filmed while performing overground running and galloping at their preferred velocities. A previous study (Whitall & Caldwell, 1992) showed that kinematic differences between these gait modes included higher preferred velocity for running than galloping, with distinct differences in interlimb coordination but surprisingly similar intralimb patterns. Energetically, in the present study the whole body center of mass during galloping was found to behave much as it does in walking; kinetic and potential energy profiles were out of phase, as compared with running, which exhibited in-phase fluctuations of kinetic and potential energies. The primary reason for these center of mass differences was found in the energetics of the back leg of galloping, which demonstrated alterations in timing of its energy fluctuations and less energy generation than the front leg. Analysis of the power sources underlying the segmental energies during swing phase showed that the back leg's energy changes were accomplished mainly through reduced use of the hip muscles and less interlimb energy transfer. The back leg's energetics during swing also displayed a shift toward greater reliance on nonmuscular energy sources. A pattern of energy inflow during early swing and energy outflow during late swing was common to both running and galloping, although the galloping legs both demonstrated more abrupt transitions between these phases. The possibility is raised that the 67/33 interlimb phasing ratio used in galloping is selected to reduce mechanical energy variations of the total body center of mass. These data suggest that models of asymmetric gait in humans must account for more than merely phase alteration.     

Effects of implied action speed on estimation of event duration

Two experiments investigated the effect of manipulating the implied speed of an individual's actions on estimation of event duration. Experiment 1 requested duration estimates from eyewitnesses to a staged event. Three groups of subjects participated, and each was provided with different postevent information, which varied the implied speed of the individual that acted out the event. Results indicated that subjects who were led to believe the actor engaged in fast actions (e.g. running) generated significantly shorter duration estimates than those led to believe the speed of the actor was slow (e.g. the actor walked). Experiment 2 manipulated implied action speed by varying the commands given by a robber during a bank robbery. The marked sound track contained phrases such as ‘hurry up’, ‘come on’, ‘now!’ which imply that the bank tellers, to whom the commands were directed, had a slow action speed. The unmarked sound track contained the same number of words as the marked tape, but they did not emphasize action speed. Both versions of the video had the same actual duration. Results indicated that subjects shown the marked video gave significantly longer duration estimates, than those shown the unmarked video. The results are discussed in terms of the reconstruction of event duration, and implications for assessing the accuracy of eyewitness testimony.     

Some effects of methylphenidate on stimulus control of ratio avoidance behavior in the rat

After exposure to an avoidance schedule which included a warning signal, a rat was placed on a multiple schedule in which the first component was the same as before, i.e., a single response reset the response-shock interval, delaying shock, and the second component differed only in that four bar-presses were required to postpone shock. A fixed ratio requirement of four responses (FR 4) generated behavior resembling a fixed ratio requirement of one response (FR 1) since responding was controlled by the warning signal but more shocks were received. At a dosage of 2 mg/kg, methylphenidate given intraperitoneally decreased shock frequency during FR 4 periods while FR 1 behavior was not affected; at 4 mg/kg, stimulus control of avoidance responding was impaired during both components. Results at 4 mg/kg were partially confirmed by two animals exposed to an FR 4 avoidance schedule which included a warning signal but with different parameters. Response distributions showed that methylphenidate increased response rates in the absence of the warning signal, i.e., stimulus control of ratio-avoidance behavior was impaired although the increased response rates reduced shock frequency. One hour later responses again occurred more frequently during the signal than in its absence but shocks were less frequent than during control (non-drug) periods.     

Vicious-circle behavior in the Y maze

Laboratory rats were given escape training in both arms of a Y maze followed by extinction in one of four conditions: regular (no shock), punished (both arms containing a shock mid-segment), choice, or forced (one arm containing a shock mid-segment, one arm shock free). Subjects in the punished and forced conditions required more extinction trials than those in the regular extinction condition. The choice condition was intermediate and not significantly different from the others. Choice subjects avoided the shock by choosing the safe alley early and consistently during extinction, but some continued to run for many trials without further punishment. It was suggested that the number of punished trials early in extinction is related to persistence of running, and the results were discussed in relation to the Mowrer-Brown and the discrimination hypotheses.