Haptic parallelity perception on the frontoparallel plane: the involvement of reference frames

It has been established that spatial representation in the haptic modality is subject to systematic distortions. In this study, the haptic perception of parallelity on the frontoparallel plane was investigated in a bimanual matching paradigm. Eight reference orientations and 23 combinations of stimulus locations were used. The current hypothesis from studies conducted on the horizontal and midsagittal planes presupposes that what is haptically perceived as parallel is a product of weighted contributions from both egocentric and allocentric reference frames. In our study, we assessed a correlation between deviations from the veridical and hand/arm postures and found support for the role of an intermediate frame of reference in modulating haptic parallelity on the frontoparallel plane as well. Moreover, a subject-dependent biasing influence of the egocentric reference frame determines both the reversal of the oblique effect and a scaling effect in deviations as a function of bar position.     

Haptic and visual perception of roughness

In this study, we are interested in the following two questions: (1) how does perceived roughness correlate with physical roughness, and (2) how do visually and haptically perceived roughness compare? We used 96 samples of everyday materials, such as wood, paper, glass, sandpaper, ceramics, foams, textiles, etc. The samples were characterized by various different physical roughness measures, all determined from accurately measured roughness profiles. These measures consisted of spectral densities measured at different spatial scales and industrial roughness standards (R(a), R(q) and R(z)). In separate haptic and visual conditions, 12 na?ve subjects were instructed to order the 96 samples according to perceived roughness. The rank orders of both conditions were correlated with the various physical roughness measures. With most physical roughness measures, haptic and visual correspondence with the physical ordering was about equal. With others, haptic correspondence was slightly better. It turned out that different subjects ordered the samples using different criteria; for some subjects the correlation was better with roughness measures that were based on higher spatial frequencies, while others seemed to be paying more attention to the lower spatial frequencies. Also, physical roughness was not found to be the same as perceived roughness.     

Haptically straight lines

In this research, we set out to investigate haptically perceived space. Large deviations with respect to physical space have already been shown to exist. Here, research on haptic space is continued by investigating straight lines constructed by touch. In four experiments, subjects were asked to produce straight lines between two reference markers that were in the horizontal plane at a fixed distance from each other. Each experiment corresponded to a different task: two different interpolation tasks, an intersection task, and a pointing task. Straight lines had an orientation that was approximately frontoparallel. Subjects used both hands; manipulation was unrestricted. Although we found considerable differences between observers, the overall pattern of results showed that haptically straight lines were generally curved away from the observer. However, in one of the interpolation tasks they corresponded to physically straight lines. In addition, the pointing task generally produced larger deviations than the other three tasks. Taken together, the results show that there is no unique definition of the straight line, a conclusion that questions the viability of the concept of haptic space.     

Visually controlled matching of pattern movement.

Subjects were asked to match the speeds of two moving random-dot patterns seen through circular apertures. The speed of one pattern that moved horizontally toward the right of a computer screen changed continuously. The speed of this pattern represented the target. It was to be matched with the speed of the second pattern, which moved in the opposite direction. The subject controlled the speed of the second pattern by means of an isometric joystick. The distance between the apertures on the screen as well as the subject's distance from the screen served as experimental parameters. In this way, the effects of both spatial and temporal transients of pattern speed on human tracking performance were studied. To avoid anticipation by the subject, the amplitude and the frequency of the target pattern speed changed pseudorandomly. The accuracy with which the subject performed the matching task was influenced by the mean pattern speed and the parameters of the visual field. Within lower velocity ranges, the subject's sensitivity to the instantaneous speed differences varied according to Weber's law. The cross-correlation of the velocity time courses decreased when the mean speed of the target pattern was increased. Two stimulus parameters had a strong influence on the modulation of the correlation value: (1) the angular size of the stimulus on the retina and (2) the retinal eccentricity of the stimulus.     

Haptic curvature discrimination at several regions of the hand

Static haptic discrimination of the curvature of convex, concave, or straight 20-cm-long strips was investigated for nine placements on the hand. In one condition, the strips were touched with the palmar side of the hand, and in the other condition, with the dorsal side. The influence of the lengths of the strips, and thus of contact lengths, was also investigated. For all placements, discrimination was poorer in the dorsal than in the palmar condition, owing to poorer cutaneous resolution on the dorsal side of the hand (the kinesthetic stimulation was the same in both conditions). Thus cutaneous stimulation is important. In both experiments, performance appeared to depend primarily on contact length. Moreover, the discrimination thresholds for all different placements and contact lengths followed the same trend. We conclude that in these experiments the effective stimulus for the discrimination of curved strips is the total difference of local surface attitude—that is, the slope difference over the far ends of the stimulus.     

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.     

Haptic perception of spatial relations

There are some indications that haptic space like visual space is not Euclidean (e.g. Blumenfeld, 1937 Acta Psychologica 2 125-174). In a series of experiments, we investigated the haptic perception of spatial relations in a systematic way. We restricted ourselves to a horizontal plane at waist height. Blindfolded subjects were asked to perform three tasks with their right hand: (i) a reference bar was presented under four different orientations and subjects were asked to rotate a test bar such that it felt to be parallel to the reference bar; (ii) subjects had to rotate two test bars in such a way that they felt collinear; (iii) subjects had to point a test bar in the direction of a marker. Bars and marker could appear at nine different locations. In all experiments large systematic deviations (up to 40 degrees) were made. The deviations strongly correlated with horizontal (right-left) but not with vertical (forward-backward) distance. Subjects showed qualitatively identical trends but the size of the deviations was strongly subject-dependent. In addition, a significant haptic oblique effect was found. These results provide strong evidence that haptic space in non-Euclidean.     

One, two, three, many - Subitizing in active touch

‘Subitizing’ refers to rapid and accurate judgement of small numbers of items, while response times and error rates increase rapidly for larger set-sizes. Most enumeration studies have been done in vision. Enumeration studies in touch have mostly involved ‘passive touch’, i.e. touch without active exploration. In daily life a much more common situation is that of ‘active touch’, e.g. when we count the number of coins in our pocket. To investigate numerosity judgement in active touch, we let subjects haptically explore varying numbers of spheres. Our results show that enumeration for up to 3 items is more efficient than for larger numbers of items. We also show that enumeration in this regime was not performed through estimation. Furthermore, it is shown that numerosity information was accessed directly and not through mass or volume cues. Not only do our results show that a haptic version of subitizing exists in active touch, they also suggest similar underlying enumeration mechanisms across different modalities.