Grasping of extrafoveal targets: A robotic model

We present a computational model of grasping of non-fixated (extrafoveal) target objects which is implemented on a robot setup, consisting of a robot arm with cameras and gripper. This model is based on the premotor theory of attention (Rizzolatti et al., 1994) which states that spatial attention is a consequence of the preparation of goal-directed, spatially coded movements (especially saccadic eye movements). In our model, we add the hypothesis that saccade planning is accompanied by the prediction of the retinal images after the saccade. The foveal region of these predicted images can be used to determine the orientation and shape of objects at the target location of the attention shift. This information is necessary for precise grasping. Our model consists of a saccade controller for target fixation, a visual forward model for the prediction of retinal images, and an arm controller which generates arm postures for grasping. We compare the precision of the robotic model in different task conditions, among them grasping (1) towards fixated target objects using the actual retinal images, (2) towards non-fixated target objects using visual prediction, and (3) towards non-fixated target objects without visual prediction. The first and second setting result in good grasping performance, while the third setting causes considerable errors of the gripper orientation, demonstrating that visual prediction might be an important component of eye–hand coordination. Finally, based on the present study we argue that the use of robots is a valuable research methodology within psychology.     

Distance estimation in vista space

Although distance estimation has been extensively studied in the laboratory, our ability to judge large distances in the field is not well researched. We challenge the notion that large distances are uniformly underestimated. We presented different targets to observers at distances ranging from 25 to 500 m to obtain egocentric distance judgments in natural environments. Three experiments showed that observers tend to underestimate distances below 75 m in a large open field, whereas they overestimate farther distances. Both the eye height of the observer and the size of the target also influenced distance estimation. We conclude that the notion of a uniform vista space has to be reconceived.     

Vestibular stimulation interferes with the dynamics of an internal representation of gravity

The remembered vanishing location of a moving target has been found to be displaced downward in the direction of gravity (representational gravity) and more so with increasing retention intervals, suggesting that the visual spatial updating recruits an internal model of gravity. Despite being consistently linked with gravity, few inquiries have been made about the role of vestibular information in these trends. Previous experiments with static tilting of observers’ bodies suggest that under conflicting cues between the idiotropic vector and vestibular signals, the dynamic drift in memory is reduced to a constant displacement along the body’s main axis. The present experiment aims to replicate and extend these outcomes while keeping the observers’ bodies unchanged in relation to physical gravity by varying the gravito-inertial acceleration using a short-radius centrifuge. Observers were shown, while accelerated to varying degrees, targets moving along several directions and were required to indicate the perceived vanishing location after a variable interval. Increases of the gravito-inertial force (up to 1.4G), orthogonal to the idiotropic vector, did not affect the direction of representational gravity, but significantly disrupted its time course. The role and functioning of an internal model of gravity for spatial perception and orientation are discussed in light of the results.     

Naive optics: acting on mirror reflections

It is known that naive observers have striking misconceptions about mirror reflections. In 5 experiments, this article systematically extends the findings to graphic stimuli, to interactive visual tasks, and finally to tasks involving real mirrors. The results show that the perceptual knowledge of nonexpert adults is far superior to their conceptual knowledge. Whereas conceptual errors include the assumption of left-right reversals in mirror images and often blatant extensions of the boundary of mirror space, the perceptual context prevents most such errors. However, a consistent bias to misjudge objects in mirrors too far to the outside is demonstrable in all cases including tasks with real mirrors. The authors present a 2-stage hypothesis consisting of an implicit bias of judging the mirror surface to be turned toward the observer's line of sight followed by a normalization that becomes explicit.     

Naive optics: understanding the geometry of mirror reflections

Paper-and-pencil tasks showed that many university students believed that when laterally approaching a mirror, they would see a reflection in the mirror before it was geometrically possible. Participants failed to adequately factor in the observer's location in the room. However, when asked about the behavior of a ray of light, participants knew about the law of reflection. No differences between psychology and physics students were detected, suggesting that the phenomenon is widespread and refractory to training. The findings were replicated with observers making judgments about image locations in a real room using a pretend mirror. Possible heuristics about mirror reflection that might explain the data are discussed. Naive optics is a promising venue to further knowledge of how observers understand basic laws of physics.