Haptic distal spatial perception mediated by strings: haptic "looming"

Five experiments tested a haptic analog of optical looming, demonstrating string-mediated haptic distal spatial perception. Horizontally collinear hooks supported a weighted string held taut by a blindfolded participant's finger midway between the hooks. At the finger, the angle between string segments increased as the finger approached collinearity with the hooks, just as the optical angle subtended by an approaching object increases. The vertical force component at the finger is potentially informative for perception, approaching zero at finger-hook collinearity. In Experiment 1, participants judged hook height reasonably accurately. To retain force relationships but eliminate immediate skin contact, Experiment 2 employed a hand-held rod; results replicated those of Experiment 1. Experiment 3 replicated Experiment 2 using a ring instead of a rod. In all three experiments, estimated hook height closely paralleled actual height, r > .9. Experiments 4 and 5 showed that participants could project impending finger-hook collinearity when finger contact with the string was interrupted during its traverse. Perceivers' estimate errors were nearly perfectly predicted by height-force ratio relationships (Rs > .96). Outcomes are related to optical and acoustic looming, dynamic touch, tau theory, and Gibsonian perceptual theory.     

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.     

Influence of shape on haptic curvature perception

Curvature discrimination of hand-sized doubly curved surfaces by means of static touch was investigated. Stimuli consisted of hyperbolical, cylindrical, elliptical and spherical surfaces of various curvatures. In the first experiment subjects had to discriminate the curvature along a specified orientation (the discrimination orientation) of a doubly curved surface from a flat surface. The curvature to be discriminated was oriented either along the middle finger or across the middle finger of the right hand. Independent of the shape of the surface, thresholds were found to be about 1.6 times smaller along the middle finger than across the middle finger. Discrimination biases were found to be strongly influenced by the shape of the surface; subjects judged a curvature to be more convex when the perpendicular curvature was convex than when this curvature was concave. With the results of the second experiment it could be ruled out that the influence of shape on curvature perception was simply due to a systematic error made by the subject regarding the discrimination orientation.     

Adjustments to Local Friction in Multifinger Prehension

The authors studied the effects of surface friction at the digit-object interface on digit forces and moments when 12 participants statically held an object in a 5-digit grasp. The authors changed low-friction contact (LFC) with rayon and high-friction contact (HFC) with sandpaper independently for each digit in all 32 possible combinations. Normal forces of the thumb and virtual finger (VF), an imagined finger with a mechanical effect equal to that of the 4 fingers, increased with the thumb at LFC or with an increase in the number of fingers at LFC. When the thumb was at LFC, the thumb tangential force decreased. The VF tangential force decreased when the number of fingers at LFC increased. The interaction of the local responses to friction and the synergic responses necessary to maintain the equilibrium explain the coordination of individual digit forces.     

Adjustments to local friction in multifinger prehension

The authors studied the effects of surface friction at the digit-object interface on digit forces and moments when 12 participants statically held an object in a 5-digit grasp. The authors changed low-friction contact (LFC) with rayon and high-friction contact (HFC) with sandpaper independently for each digit in all 32 possible combinations. Normal forces of the thumb and virtual finger (VF), an imagined finger with a mechanical effect equal to that of the 4 fingers, increased with the thumb at LFC or with an increase in the number of fingers at LFC. When the thumb was at LFC, the thumb tangential force decreased. The VF tangential force decreased when the number of fingers at LFC increased. The interaction of the local responses to friction and the synergic responses necessary to maintain the equilibrium explain the coordination of individual digit forces.     

Grasp force control in older adults

Diminished tactile sensibility and impaired hand dexterity have been reported for elderly individuals. Reports that younger adults with severely impaired tactile sensibility use excessive grasp force during routine grasp and manipulation tasks raise the possibility that elderly persons likewise produce large grasp forces that may contribute to impaired dexterity. Impaired pseudomotor functioning also occurs in elderly subjects and may yield a slipperier skin surface that enhances the possibility for excessive grasp force. The present study measured grasp force in 10 elderly and 9 young adult individuals, during grasp and vertical lift of a small object, using a precision (pinch) grip of the thumb and index finger. The slipperiness of the object's gripped surfaces was unexpectedly varied. Skin slipperiness was estimated by also measuring the grasp force at which the object slipped from grasp. The older subjects employed grasp forces that were, on average, twice as large as those of the young subjects, with some producing forces many times greater than the young subjects' average grip force. Grip forces also were significantly more variable across trials in older subjects. This increased variability was not caused simply by the elderly subjects' increased grip force. A portion of the increased force was due to increased skin slipperiness. The grip force that the elderly subjects produced in excess of the slip force (the "margin of safety" against object slippage) was larger than would have been predicted from their skin slipperiness, however. It is suggested that, in part, the excessive grasp forces represent a strategic response to tactile sensibility impairment. Twopoint discrimination limina in the older subjects averaged about four times greater than in the younger subjects. Increased grasp forces in elderly persons may result from other factors, such as increased variability in grip force production. The contributions of excessive grasp forces to impaired dexterity in older persons still need to be addressed experimentally.     

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.     

The effects of voluntary movements on auditory-haptic and haptic-haptic temporal order judgments

In two experiments we investigated the effects of voluntary movements on temporal haptic perception. Measures of sensitivity (JND) and temporal alignment (PSS) were obtained from temporal order judgments made on intermodal auditory-haptic (Experiment 1) or intramodal haptic (Experiment 2) stimulus pairs under three movement conditions. In the baseline, static condition, the arm of the participants remained stationary. In the passive condition, the arm was displaced by a servo-controlled motorized device. In the active condition, the participants moved voluntarily. The auditory stimulus was a short, 500Hz tone presented over headphones and the haptic stimulus was a brief suprathreshold force pulse applied to the tip of the index finger orthogonally to the finger movement. Active movement did not significantly affect discrimination sensitivity on the auditory-haptic stimulus pairs, whereas it significantly improved sensitivity in the case of the haptic stimulus pair, demonstrating a key role for motor command information in temporal sensitivity in the haptic system. Points of subjective simultaneity were by-and-large coincident with physical simultaneity, with one striking exception in the passive condition with the auditory-haptic stimulus pair. In the latter case, the haptic stimulus had to be presented 45ms before the auditory stimulus in order to obtain subjective simultaneity. A model is proposed to explain the discrimination performance.     

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.     

质地密度逐渐变化对触觉识别的作用

研究关于输入、本体感受和输出对表面触觉认知的影响,旨在探索运用触觉识别质地密度逐渐变化的表面时,理论关于表面粗糙度恒定的情况下,主动手指运动产生的信息不影响触觉认知的解释是否仍然成立。实验采用表面质地密度呈正态曲线式逐渐变化,组成正负两组变化方向。正方向变化为表面质点密度向中逐渐增大,与手指触摸运动的加减速方式一致;负方向变化为表面质点密度向中逐渐减小,与手指触摸运动的加减速方式相反;另外包括一个表面密度不变的平面。让被试辨别表面质地密度变化的方向,结果发现被试能够很好地判别表面质地密度变化的方向,但在判别正向变化的表面时显得更准确;当表面密度没有变化时,被试倾向于判别为正向变化。这一发现没有支持表面密度恒定的触觉认知解释模型。与常规直觉相反,研究还发现即时反馈并没有改进触觉识别,反而降低了辨别的正确率。质地密度逐渐变化的触觉识别在变化的大小、准确和自信心方面都显示了不同,但没有发现认知学习作用该触觉任务辨别的过程。基于这些发现,文章讨论了触觉质地感知和有关存在的理论解释模式。     

Haptic probing: perceiving the length of a probe and the distance of a surface probed.

Knowing about the properties of objects by wielding them and knowing about the distances of surfaces by striking them with objects as probes are examples of dynamic or effortful touch. Six experiments focused on the invariant mechanical parameters that couple the time-varying states (displacements, velocities) of hand-held rods to the time-varying torques and forces imposed upon them by wielding and probing. There were three major conclusions. First, when a probe is wielded without contact, perceived probe length is a function of the probe's rotational inertia; however, with contact, perceived probe length is affected by the rotational inertia and the distance of the point of contact from the probe's center of percussion. Second, when a surface is struck with a probe, perceived surface distance is affected by the probe's rotational inertia and the angle of inclination of the probe at contact. Third, under seemingly identical conditions of probing, either probe length or surface distance can be perceived selectively without confusion. Results were discussed in terms of haptic information, haptic attention, and the dynamics of probing.     

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.     

Practice effects on the use of visual and haptic cues during grasping

Mapping of arbitrary color cues onto object properties such as mass can influence the control of fingertip forces. One can view the development of that mapping as a motor learning issue, and its development should therefore be influenced by practice schedule. During an acquisition phase, 24 participants lifted color-cued objects that differed in mass. The masses were presented in either blocked or random orders. A test phase consisted of lifts of a midmass object; on some lifts, the object's mass was unexpectedly changed. The change was either accurately color cued or miscued. Only blocked practice led to visually mediated scaling of fingertip forces to object mass. During the test phase, previous blocked practice resulted in reliance on visual cues, and random practice led to a reliance on haptics (sense of touch). Those findings suggest that the integration of arbitrary color cues and haptic information is dependent on practice conditions.     

Multisensory postural control in adults: Variation in visual,haptic, and proprioceptive inputs

Maintaining balance is fundamentally a multisensory process, with visual, haptic, and proprioceptive information all playing an important role in postural control. The current project examined the interaction between such sensory inputs, manipulating visual (presence versus absence), haptic (presence versus absence of contact with a stable or unstable finger support surface), and proprioceptive (varying stance widths, including shoulder width stance, Chaplin [heels together, feet splayed at approximately 60°] stance, feet together stance, and tandem stance) information. Analyses of mean velocity of the Centre of Pressure (CoP) revealed significant interactions between these factors, with stability gains observed as a function of increasing sensory information (e.g., visual, haptic, visual + haptic), although the nature of these gains was modulated by the proprioceptive information and the reliability of the haptic support surface (i.e., unstable versus stable finger supports). Subsequent analyses on individual difference parameters (e.g., height, leg length, weight, and areas of base of support) revealed that these variables were significantly related to postural measures across experimental conditions. These findings are discussed relative to their implications for multisensory postural control, and with respect to inverted pendulum models of balance. (185 words).     

Haptic probing: Perceiving the length of a probe and the distance of a surface probed

Knowing about the properties of objects by wielding them and knowing about the distances of surfaces by striking them with objects as probes are examples of dynamic or effortful touch. Six experiments focused on the invariant mechanical parameters that couple the time-varying states (displacements, velocities) of hand-held rods to the time-varying torques and forces imposed upon them by wielding and probing. There were three major conclusions. First, when a probe is wielded without contact, perceived probe length is a function of the probe’s rotational inertia; however, with contact, perceived probe length is affected by the rotational inertia and the distance of the point of contact from the probe’s center of percussion. Second, when a surface is struck with a probe, perceived surface distance is affected by the probe’s rotational inertia and the angle of inclination of the probe at contact. Third, under seemingly identical conditions of probing, either probe length or surface distance can be perceived selectively without confusion. Results were discussed in terms of haptic information, haptic attention, and the dynamics of probing.     

Perceiving the vertical distances of surfaces by means of a hand-held probe.

Nine experiments were conducted on the haptic capacity of people to perceive the distances of horizontal surfaces solely on the basis of mechanical stimulation resulting from contacting the surfaces with a vertically held rod. Participants touched target surfaces with rods inside a wooden cabinet and reported the perceived surface location with an indicator outside the cabinet. The target surface, rod, and the participant's hand were occluded, and the sound produced in exploration was muffled. Properties of the probe (length, mass, moment of inertia, center of mass, and shape) were manipulated, along with surface distance and the method and angle of probing. Results suggest that for the most common method of probing, namely, tapping, perceived vertical distance is specific to a particular relation among the rotational inertia of the probe, the distance of the point of contact with the surface from the probe's center of percussion, and the inclination at contact of the probe to the surface. They also suggest that the probe length and the distance probed are independently perceivable. The results were discussed in terms of information specificity versus percept-percept coupling and parallels between selective attention in haptic and visual perception.     

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.     

What do hands know about hills? Interpreting Taylor-Covill and Eves (2013) in context

Hills appear much steeper than they are. Although near surface slant is also exaggerated, near surfaces appear much shallower than equivalently slanted hills. Taylor-Covill and Eves (2013) propose a new type of palm orientation measuring device that provides outputs that accurately reflect the physical slants of stairs and hills from 19 to 30° and also seems to accurately reflect the slants of near surfaces (25–30°). They question the validity of the observations of Durgin, Hajnal, Li, Tonge & Stigliani (2010), who observed that palm boards grossly underestimated near surfaces. Here I review our recent work on the visual and haptic perception of near surface orientation in order to place Taylor-Covill and Eves' arguments in context. I note in particular that free hand measures of real surfaces in near space show excellent calibration, but free hand measures show gross exaggeration for hills. This leads to the question of the grounds for preferring a mechanical device to a freely wielded hand. In addition I report an investigative replication of the crucial observations that led to our concerns about the value of palm boards as measures of perception and note the specific methodological details that we have accounted for in our procedures. Finally, I propose some testable hypotheses regarding how better-than-expected haptic matches to hills may arise.     

Haptic after-effect of successively touched curved surfaces

A flat surface is more often judged to be convex after the touching of a concave surface than after the touching of a convex surface. This haptic after-effect increases with the time of contact with the curved surface till it saturates, and it decreases with the time-lapse between the touching of the first surface and the next one. In this paper, the haptic after-effect of two successively touched spherically curved surfaces is investigated. It is found that both surfaces contribute to the after-effect, but the after-effect is not additive. The time course of the after-effect of two successive surfaces can be described by a first-order integrator with a single time constant of about 7 s and an amplitude equal to the difference between the saturation levels of the after-effects of the two surfaces when measured in isolation. The new saturation level is therefore equal to that of the after-effect of the most recently touched surface.     

Consistent haptic feedback is required but it is not enough for natural reaching to virtual cylinders

In virtual reality it is easy to control the visual cues that tell us about an object's shape. However, it is much harder to provide realistic virtual haptic feedback when grasping virtual objects. In this study we examined the role of haptic feedback when grasping (virtual) cylinders with an elliptical circumference. In Experiment 1 we placed the same circular cylinder at the simulated location of virtual elliptical cylinders of varying shape, so that the haptic feedback did not change when the visually specified shape changed. We found that the scaling of maximum grip aperture with the diameter of the nearest principal axis (.14+/-.04) was much weaker than when grasping real cylinders (.54+/-.04, Cuijpers, Brenner, & Smeets, 2006 Grasping reveals visual misjudgements of shape. Experimental Brain Research, 175, 32-44). For the scaling of grip orientation with the orientation of the cylinder we found large individual differences: the range is .07-.82 (average .42+/-.07) as compared to .55-.79 (average .67+/-.03) for grasping real cylinders. In Experiment 2 we provided consistent haptic feedback by placing real cylinders that matched the location, shape and orientation of the virtual cylinders. The scaling gains of both maximum grip aperture (.39+/-.04) and grip orientation (.56+/-.08) were substantially higher than in Experiment 1, but still lower than for grasps to real cylinders. The variability between participants for the scaling of grip orientation was also much reduced. These results showed that although haptic feedback must be consistent with visual information, it is not sufficient for natural prehension. We discuss the implications of these findings in terms of the integration of visual information with haptic feedback.