Task requirements influence sensory integration during grasping in humans

The sensorimotor transformations necessary for generating appropriate motor commands depend on both current and previously acquired sensory information. To investigate the relative impact (or weighting) of visual and haptic information about object size during grasping movements, we let normal subjects perform a task in which, unbeknownst to the subjects, the object seen (visual object) and the object grasped (haptic object) were never the same physically. When the haptic object abruptly became larger or smaller than the visual object, subjects in the following trials automatically adapted their maximum grip aperture when reaching for the object. This adaptation was not dependent on conscious processes. We analyzed how visual and haptic information were weighted during the course of sensorimotor adaptation. The adaptation process was quicker and relied more on haptic information when the haptic objects increased in size than when they decreased in size. As such, sensory weighting seemed to be molded to avoid prehension error. We conclude from these results that the impact of a specific source of sensory information on the sensorimotor transformation is regulated to satisfy task requirements.     

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 role of contour polarity,objectness, and regularities in haptic and visual perception

Regularities like symmetry (mirror reflection) and repetition (translation) play an important role in both visual and haptic (active touch) shape perception. Altering figure-ground factors to change what is perceived as an object influences regularity detection. For vision, symmetry is usually easier to detect within one object, whereas repetition is easier to detect across two objects. For haptics, we have not found this interaction between regularity type and objectness (Cecchetto & Lawson, Journal of Experimental Psychology: Human Perception and Performance, 43, 103–125, 2017; Lawson, Ajvani, & Cecchetto, Experimental Psychology, 63, 197–214, 2016). However, our studies used repetition stimuli with mismatched concavities, convexities, and luminance, and so had mismatched contour polarities. Such stimuli may be processed differently to stimuli with matching contour polarities. We investigated this possibility. For haptics, speeded symmetry and repetition detection for novel, planar shapes was similar. Performance deteriorated strikingly if contour polarity mismatched (keeping objectness constant), whilst there was a modest disadvantage for between-2objects:facing-sides compared to within-1object:outer-sides comparisons (keeping contour polarity constant). For the same task for vision, symmetry detection was similar to haptics (strong costs for mismatched contour polarity, weaker costs for between-2objects:facing-sides comparisons), but repetition detection was very different (weak costs for mismatched contour polarity, strong benefits for between-2objects:facing-sides comparisons). Thus, objectness was less influential than contour polarity for both haptic and visual symmetry detection, and for haptic repetition detection. However, for visual repetition detection, objectness effects reversed direction (within-1object:outer-sides comparisons were harder) and were stronger than contour polarity effects. This pattern of results suggests that regularity detection reflects information extraction as well as regularity distributions in the physical world.     

The effect of hunger on water intake in rats

Although reciprocal inhibition between eating and drinking has been postulated, the commonly observed reduction of water intake by hungry rats may not be due to any direct inhibitory mechanism. In one experiment rats deprived of food for 24 hr. and then injected with 2 ml. of NaCl drank the same as rats that had received food ad lib. In the second experiment a stomach load of 10 ml. of water 3 hr. before the salt injection was designed to abolish any water deficit that might have occurred during food deprivation had there been inhibition of drinking by hunger. Here again rats deprived of food did not drink less than undeprived animals. In fact the hungry rats drank slightly but significantly more. This phenomenon may be related to the observation confirmed here that during food deprivation rats excrete about twice as much rather dilute urine as during ad lib food intake. This seems to indicate that though in general food deprived rats drink less than normal they actually drink more than they need. Schedule induced polydipsia also occurs during food deprivation and this too makes it unlikely that water-intake is actually inhibited during hunger.     

Geometrical haptic illusions: The role of exploration in the Müller-Lyer,vertical-horizontal,and Delboeuf illusions

This article surveys studies of the occurrence, in the haptic modality, of three geometrical illusions well known in vision, and it discusses the nature of the processes underlying these haptic illusions.We argue that the apparently contradictory results found in the literature concerning them may be explained, at least partially, by the characteristics of manual exploratory movements. The Müller-Lyer illusion is present in vision and in haptics and seems to be the result of similar processes in the two modalities. The vertical-horizontal illusion also exists in vision and haptics but is due partly to similar processes (bisection) and partly to processes specific to each modality (anisotropy of the visual field and overestimation of radial vs. tangential manual exploratory movements). The Delboeuf illusion seems to occur only in vision, probably because exploration by the index finger may exclude the misleading context from tactile perception. The role of these haptic exploratory movements may explain why haptics is as sensitive as vision to certain illusions and less sensitive to others.     

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.     

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.     

Discrimination thresholds for haptic perception of volume, surface area, and weight

The present study investigated the human ability to discriminate the size of 3-D objects by touch. Experiment 1 measured the just noticeable differences (JNDs) for three tasks: (1) discrimination of volume without availability of weight information, (2) discrimination of volume with weight information available, and (3) discrimination of surface area. Stimuli consisted of spheres, cubes, and tetrahedrons. For all shapes, two reference sizes were used (3.5 and 12 cm(3)). No significant effect of task on the discriminability of objects was found, but the effects of shape and size were significant, as well as the interaction between these two factors. Post hoc analysis revealed that for the small reference, the Weber fractions for the tetrahedron were significantly larger than the fractions for the cube and the sphere. In Experiment 2, the JNDs for haptic perception of weight were measured for the same objects as those used in Experiment 1. The shape of objects had no significant effect on the Weber fractions for weight, but the Weber fractions for the small stimuli were larger than the fractions for the large stimuli. Surprisingly, a comparison between the two experiments showed that the Weber fractions for weight were significantly larger than the fractions for volume with availability of weight information. Taken together, the results reveal that volume and weight information are not effectively combined in discrimination tasks. This study provides detailed insight into the accuracy of the haptic system in discriminating objects' size. This substantial set of data satisfies the need for more fundamental knowledge on haptic size perception, necessary for a greater understanding of the perception of related properties, as well as of more general perceptual processes.     

Visual size perception and haptic calibration during development

It is still unclear how the visual system perceives accurately the size of objects at different distances. One suggestion, dating back to Berkeley’s famous essay, is that vision is calibrated by touch. If so, we may expect different mechanisms involved for near, reachable distances and far, unreachable distances. To study how the haptic system calibrates vision we measured size constancy in children (from 6 to 16 years of age) and adults, at various distances. At all ages, accuracy of the visual size perception changes with distance, and is almost veridical inside the haptic workspace, in agreement with the idea that the haptic system acts to calibrate visual size perception. Outside this space, systematic errors occurred, which varied with age. Adults tended to overestimate visual size of distant objects (over‐compensation for distance), while children younger than 14 underestimated their size (under‐compensation). At 16 years of age there seemed to be a transition point, with veridical perception of distant objects. When young subjects were allowed to touch the object inside the haptic workspace, the visual biases disappeared, while older subjects showed multisensory integration. All results are consistent with the idea that the haptic system can be used to calibrate visual size perception during development, more effectively within than outside the haptic workspace, and that the calibration mechanisms are different in children than in adults.     

Perceived size and distance as a perceptual conflict between two processing modes

Three different sized squares were successively presented at the same physical distance under three observational conditions which provided different information about distance in the visual field. The 60 observers in each observational condition were asked to give verbal absolute judgments of perceived size and perceived distance for each of the squares. The results showed that in a full-cue situation a ratio of perceived absolute sizes is equal to that of the corresponding visual angles, with perceived distances appearing equal to each other; in a reduced-cue situation an object of smaller perceived size is judged to be farther away than one of larger perceived size, with the observers tending to assume the two objects as the same object or identically sized objects. These results were analyzed in terms of the perceptual conflict between primary perception and secondary perception.     

Body-based perceptual rescaling revealed through the size-weight illusion

An embodied approach to the perception of spatial layout contends that the body is used as a 'perceptual ruler' with which individuals scale the perceived environmental layout. In support of this notion, previous research has shown that the perceived size of objects can be influenced by changes in the apparent size of hand. The size-weight illusion is a well known phenomenon, which occurs when people lift two objects of equal weight but differing sizes and perceive that the larger object feels lighter. Therefore, if apparent hand size influences perceived object size, it should also influence the object's perceived weight. In this study, we investigated this possibility by using perceived weight as a measure and found that changes in the apparent size of the hand influence objects' perceived weight.     

The neural basis of haptic object processing.

We review the organization of the neural networks that underlie haptic object processing and compare that organization with the visual system. Haptic object processing is separated into at least two neural pathways, one for geometric properties or shape, and one for material properties, including texture. Like vision, haptic processing pathways are organized into a hierarchy of processing stages, with different stages represented by different brain areas. In addition, the haptic pathway for shape processing may be further subdivided into different streams for action and perception. These streams may be analogous to the action and perception streams of the visual system and represent two points of neural convergence for vision and haptics.     

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.     

Developmental change in young children's use of haptic information in a visual task: the role of hand movements

Preschoolers who explore objects haptically often fail to recognize those objects in subsequent visual tests. This suggests that children may represent qualitatively different information in vision and haptics and/or that children’s haptic perception may be poor. In this study, 72 children (2½-5 years of age) and 20 adults explored unfamiliar objects either haptically or visually and then chose a visual match from among three test objects, each matching the exemplar on one perceptual dimension. All age groups chose shape-based matches after visual exploration. Both 5-year-olds and adults also chose shape-based matches after haptic exploration, but younger children did not match consistently in this condition. Certain hand movements performed by children during haptic exploration reliably predicted shape-based matches but occurred at very low frequencies. Thus, younger children’s difficulties with haptic-to-visual information transfer appeared to stem from their failure to use their hands to obtain reliable haptic information about objects.     

The saliva priming effect,eating speed and the measurement of hunger

Volunteers were tested under two conditions, either just before or just after a meal. The aim of the investigation was to identify subjective, behavioural and physiological correlates of hunger. Subjective measures of hunger and expected enjoyment as well as speed of eating clearly differentiated the two conditions. Although the basal level of salivation did not change significantly, there was a clear differential priming effect after consuming a small amount of chocolate. The saliva priming effect was greater when subjects were hungry. Correlations between change scores suggest that two partially independent systems are activated by food deprivation which could be labelled ‘hunger-salivation’ and ‘enjoyment-speed of eating’.     

Haptic perception: A tutorial

This tutorial focuses on the sense of touch within the context of a fully active human observer. It is intended for graduate students and researchers outside the discipline who seek an introduction to the rapidly evolving field of human haptics. The tutorial begins with a review of peripheral sensory receptors in skin, muscles, tendons, and joints. We then describe an extensive body of research on “what” and “where” channels, the former dealing with haptic perception of objects, surfaces, and their properties, and the latter with perception of spatial layout on the skin and in external space relative to the perceiver. We conclude with a brief discussion of other significant issues in the field, including vision-touch interactions, affective touch, neural plasticity, and applications.     

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.     

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.     

Roughness perception of unfamiliar dot pattern textures

Both vision and touch yield comparable results in terms of roughness estimation of familiar textures as was shown in earlier studies. To our knowledge, no research has been conducted on the effect of sensory familiarity with the stimulus material on roughness estimation of unfamiliar textures.The influence of sensory modality and familiarity on roughness perception of dot pattern textures was investigated in a series of five experiments. Participants estimated the roughness of textures varying in mean center-to-center dot spacing in experimental conditions providing visual, haptic and visual–haptic combined information.The findings indicate that roughness perception of unfamiliar dot pattern textures is well described by a bi-exponential function of inter-dot spacing, regardless of the sensory modality used. However, sensory modality appears to affect the maximum of the psychophysical roughness function, with visually perceived roughness peaking for a smaller inter-dot spacing than haptic roughness. We propose that this might be due to the better spatial acuity of the visual modality. Individuals appeared to use different visual roughness estimation strategies depending on their first sensory experience (visual vs. haptic) with the stimulus material, primarily in an experimental context which required the combination of visual and haptic information in a single bimodal roughness estimate. Furthermore, the similarity of findings in experimental settings using real and virtual visual textures indicates the suitability of the experimental setup for neuroimaging studies, creating a more direct link between behavioral and neuroimaging results.     

Infants’ perception of object–surface interplays

Twelve‐ and 18‐month‐old infants participated in a study designed to investigate the quality of their manual action when relating an object to the surface on which it is explored. Specifically, infants’ perception‐action routines were observed when they were presented with multiple objects (wooden scoop, Velcro block, and crayon) on surfaces of varying properties (paper, sand, and Velcro) to determine if sensory feedback or perceptual awareness steered their exploration of the available materials. Infants were observed to selectively tailor their manual actions across conditions, apparently guided by a perceived awareness of the fit between their manual dexterity and the environmental arrangement.