Tactual perception of material properties

GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force

Tactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor surface and high-resolution sensing of geometry should be important components of a competent tactile sensor. In this paper, we discuss the development of a vision-based optical tactile sensor, GelSight. Unlike the traditional tactile sensors which measure contact force, GelSight basically measures geometry, with very high spatial resolution. The sensor has a contact surface of soft elastomer, and it directly measures its deformation, both vertical and lateral, which corresponds to the exact object shape and the tension on the contact surface. The contact force, and slip can be inferred from the sensor’s deformation as well. Particularly, we focus on the hardware and software that support GelSight’s application on robot hands. This paper reviews the development of GelSight, with the emphasis in the sensing principle and sensor design. We introduce the design of the sensor’s optical system, the algorithm for shape, force and slip measurement, and the hardware designs and fabrication of different sensor versions. We also show the experimental evaluation on the GelSight’s performance on geometry and force measurement. With the high-resolution measurement of shape and contact force, the sensor has successfully assisted multiple robotic tasks, including material perception or recognition and in-hand localization for robot manipulation.

Tactile perception of the roughness of 3D-printed textures

Surface roughness is one of the most important qualities in haptic perception. Roughness is a major identifier for judgments of material composition, comfort, and friction and is tied closely to manual dexterity. Some attention has been given to the study of roughness perception in the past, but it has typically focused on noncontrollable natural materials or on a narrow range of artificial materials. The advent of high-resolution three-dimensional (3D) printing technology provides the ability to fabricate arbitrary 3D textures with precise surface geometry to be used in tactile studies. We used parametric modeling and 3D printing to manufacture a set of textured plates with defined element spacing, shape, and arrangement. Using active touch and two-alternative forced-choice protocols, we investigated the contributions of these surface parameters to roughness perception in human subjects. Results indicate that large spatial periods produce higher estimations of roughness (with Weber fraction = 0.19), small texture elements are perceived as rougher than large texture elements of the same wavelength, perceptual differences exist between textures with the same spacing but different arrangements, and roughness equivalencies exist between textures differing along different parameters. We posit that papillary ridges serve as tactile processing units, and neural ensembles encode the spatial profiles of the texture contact area to produce roughness estimates. The stimuli and the manufacturing process may be used in further studies of tactile roughness perception and in related neurophysiological applications. NEW & NOTEWORTHY Surface roughness is an integral quality of texture perception. We manufactured textures using high-resolution 3D printing, which allows precise specification of the surface spatial topography. In human psychophysical experiments we investigated the contributions of specific surface parameters to roughness perception. We found that textures with large spatial periods, small texture elements, and irregular, isotropic arrangements elicit the highest estimations of roughness. We propose that roughness correlates inversely with the total contacted surface area.

Tactile Evaluation Feedback System for Multi-Layered Structure Inspired by Human Tactile Perception Mechanism

Tactile sensation is one type of valuable feedback in evaluating a product. Conventionally, sensory evaluation is used to get direct subjective responses from the consumers, in order to improve the product's quality. However, this method is a time-consuming and costly process. Therefore, this paper proposes a novel tactile evaluation system that can give tactile feedback from a sensor's output. The main concept of this system is hierarchically layering the tactile sensation, which is inspired by the flow of human perception. The tactile sensation is classified from low-order of tactile sensation (LTS) to high-order of tactile sensation (HTS), and also to preference. Here, LTS will be correlated with physical measures. Furthermore, the physical measures that are used to correlate with LTS are selected based on four main aspects of haptic information (roughness, compliance, coldness, and slipperiness), which are perceived through human tactile sensors. By using statistical analysis, the correlation between each hierarchy was obtained, and the preference was derived in terms of physical measures. A verification test was conducted by using unknown samples to determine the reliability of the system. The results showed that the system developed was capable of estimating preference with an accuracy of approximately 80%.

Material recognition based on thermal cues: Mechanisms and applications

Some materials feel colder to the touch than others, and we can use this difference in perceived coldness for material recognition. This review focuses on the mechanisms underlying material recognition based on thermal cues. It provides an overview of the physical, perceptual, and cognitive processes involved in material recognition. It also describes engineering domains in which material recognition based on thermal cues have been applied. This includes haptic interfaces that seek to reproduce the sensations associated with contact in virtual environments and tactile sensors aim for automatic material recognition. The review concludes by considering the contributions of this line of research in both science and engineering.

Tactile Perception and Friction-Induced Vibrations: Discrimination of Similarly Patterned Wood-Like Surfaces

The tactile perception of a surface texture is mediated by factors such as material, topography, and vibrations induced by the sliding contact. In this paper, sensory characterizations are developed together with topographical and tribo-tactile characterizations to relate perceived features with objective measurements of tribological and dynamic signals. Two sets of surface samples are used in this study: the first set is made of a commercial floor covering tiles that aim at counter-typing natural wood flooring, with both a visual and a tactile texture mimicking wood. A second set is custom-made by replicating the first set using a plain purple polyurethane resin. The comparison between tribo-tactile signals and sensory analysis allowed the identification of objective indices for textures with slight topographical differences. Even though the topography of the replicated samples is the same as their corresponding commercial products, the fact that the material is different, induces differences in the contact and vibrational parameters. This in turn modifies the discrimination performances during the sensory experiment. Tactile characteristics collected during sensory procedures are found to be in agreement with objective indices such as friction coefficients and induced vibrations.

Human roughness perception and possible factors effecting roughness sensation

Surface texture sensation is significant for business success, in particular for solid surfaces for most of the materials; including foods. Mechanisms of roughness perception are still unknown, especially under different conditions such as lubricants with varying viscosities, different temperatures, or under different force loads during the observation of the surface. This work aims to determine the effect of those unknown factors, with applied sensory tests on 62 healthy participants. Roughness sensation of fingertip was tested under different lubricants including water and diluted syrup solutions at room temperature (25C) and body temperature (37C) by using simple pair-wise comparison to observe the just noticeable difference threshold and perception levels. Additionally, in this research applied force load during roughness observation was tested with pair-wise ranking method to illustrate its possible effect on human sensation. Obtained results showed that human's capability of roughness discrimination reduces with increased viscosity of the lubricant, where the influence of the temperature was not found to be significant. Moreover, the increase in the applied force load showed an increase in the sensitivity of roughness discrimination. Observed effects of the applied factors were also used for estimating the oral sensation of texture during eating. These findings are significant for our fundamental understanding to texture perception, and for the development of new food products with controlled textural features.

PRACTICAL APPLICATIONS

Texture discrimination ability, more specifically roughness discrimination capability, is a significant factor for preference and appreciation for a wide range of materials, including food, furniture, or fabric. To explore the mechanism of sensation capability through tactile senses, it is necessary to identify the relevant factors and define characteristics that dominate the process involved. The results that will be obtained under these principles will be helpful for the industry in the development and optimization of new products, especially for the individuals' with special needs. With this exploratory study, we illustrate differential thresholds of tactile senses under changing conditions of surface lubrication and applied force load. Also, the tests were carried out under different temperatures to understand the oral sensation capability. The results and correlations may provide useful information about texture sensitivity and also methodologies could be applied to general sensory studies.

Exploring Tactile Perceptual Dimensions Using Materials Associated with Sensory Vocabulary

Considering tactile sensation when designing products is important because the decision to purchase often depends on how products feel. Numerous psychophysical studies have attempted to identify important factors that describe tactile perceptions. However, the numbers and types of major tactile dimensions reported in previous studies have varied because of differences in materials used across experiments. To obtain a more complete picture of perceptual space with regard to touch, our study focuses on using vocabulary that expresses tactile sensations as a guiding principle for collecting material samples because these types of words are expected to cover all the basic categories within tactile perceptual space. We collected 120 materials based on a variety of Japanese sound-symbolic words for tactile sensations, and used the materials to examine tactile perceptual dimensions and their associations with affective evaluations. Analysis revealed six major dimensions: "Affective evaluation and Friction," "Compliance," "Surface," "Volume," "Temperature," and "Naturalness." These dimensions include four factors that previous studies have regarded as fundamental, as well as two new factors: "Volume" and "Naturalness." Additionally, we showed that "Affective evaluation" is more closely related to the "Friction" component (slipperiness and dryness) than to other tactile perceptual features. Our study demonstrates that using vocabulary could be an effective method for selecting material samples to explore tactile perceptual space.

Sensory and Emotional Perception of Wooden Surfaces through Fingertip Touch

Previous studies on tactile experiences have investigated a wide range of material surfaces across various skin sites of the human body in self-touch or other touch modes. Here, we investigate whether the sensory and emotional aspects of touch are related when evaluating wooden surfaces using fingertips in the absence of other sensory modalities. Twenty participants evaluated eight different pine and oak wood surfaces, using sensory and emotional touch descriptors, through the lateral motion of active fingertip exploration. The data showed that natural and smooth wood surfaces were perceived more positively in emotional touch than coated surfaces. We highlight the importance of preserving the naturalness of the surface texture in the process of wood-surface treatment so as to improve positive touch experiences, as well as avoid negative ones. We argue that the results may offer possibilities in the design of wood-based interior products with a view to improving consumer touch experiences.

Human Brain Activity Related to the Tactile Perception of Stickiness

While the perception of stickiness serves as one of the fundamental dimensions for tactile sensation, little has been elucidated about the stickiness sensation and its neural correlates. The present study investigated how the human brain responds to perceived tactile sticky stimuli using functional magnetic resonance imaging (fMRI). To evoke tactile perception of stickiness with multiple intensities, we generated silicone stimuli with varying catalyst ratios. Also, an acrylic sham stimulus was prepared to present a condition with no sticky sensation. From the two psychophysics experiments-the methods of constant stimuli and the magnitude estimation-we could classify the silicone stimuli into two groups according to whether a sticky perception was evoked: the Supra-threshold group that evoked sticky perception and the Infra-threshold group that did not. In the Supra-threshold vs. Sham contrast analysis of the fMRI data using the general linear model (GLM), the contralateral primary somatosensory area (S1) and ipsilateral dorsolateral prefrontal cortex (DLPFC) showed significant activations in subjects, whereas no significant result was found in the Infra-threshold vs. Sham contrast. This result indicates that the perception of stickiness not only activates the somatosensory cortex, but also possibly induces higher cognitive processes. Also, the Supra- vs. Infra-threshold contrast analysis revealed significant activations in several subcortical regions, including the pallidum, putamen, caudate and thalamus, as well as in another region spanning the insula and temporal cortices. These brain regions, previously known to be related to tactile discrimination, may subserve the discrimination of different intensities of tactile stickiness. The present study unveils the human neural correlates of the tactile perception of stickiness and may contribute to broadening the understanding of neural mechanisms associated with tactile perception.

Importance of Matching Physical Friction, Hardness, and Texture in Creating Realistic Haptic Virtual Surfaces

Interacting with physical objects through a tool elicits tactile and kinesthetic sensations that comprise your haptic impression of the object. These cues, however, are largely missing from interactions with virtual objects, yielding an unrealistic user experience. This article evaluates the realism of virtual surfaces rendered using haptic models constructed from data recorded during interactions with real surfaces. The models include three components: surface friction, tapping transients, and texture vibrations. We render the virtual surfaces on a SensAble Phantom Omni haptic interface augmented with a Tactile Labs Haptuator for vibration output. We conducted a human-subject study to assess the realism of these virtual surfaces and the importance of the three model components. Following a perceptual discrepancy paradigm, subjects compared each of 15 real surfaces to a full rendering of the same surface plus versions missing each model component. The realism improvement achieved by including friction, tapping, or texture in the rendering was found to directly relate to the intensity of the surface's property in that domain (slipperiness, hardness, or roughness). A subsequent analysis of forces and vibrations measured during interactions with virtual surfaces indicated that the Omni's inherent mechanical properties corrupted the user's haptic experience, decreasing realism of the virtual surface.

Use of an Enactive Insole for Reducing the Risk of Falling on Different Types of Soil Using Vibrotactile Cueing for the Elderly

Background

Our daily activities imply displacements on various types of soil. For persons with gait disorder or losing functional autonomy, walking on some types of soil could be challenging because of the risk of falling it represents.

Methods

In this paper, we present, in a first part, the use of an enactive shoe for an automatic differentiation of several types of soil. In a second part, using a second improved prototype (an enactive insole), twelve participants with Parkinson’s disease (PD) and nine age-matched controls have performed the Timed Up and Go (TUG) test on six types of soil with and without cueing. The frequency of the cueing was set at 10% above the cadence computed at the lower risk of falling (walking over the concrete). Depending on the cadence computed at the lower risk, the enactive insole activates a vibrotactile cueing aiming to improve gait and balance control. Finally, a risk index is computed using gait parameters in relation to given type of soil.

Results

The frequency analysis of the heel strike vibration allows the differentiation of various types of soil. The risk computed is associated to an appropriate rhythmic cueing in order to improve balance and gait impairment. The results show that a vibrotactile cueing could help to reduce the risk of falling.

Conclusions

Firstly, this paper demonstrates the feasibility of reducing the risk of falling while walking on different types of soil using vibrotactile cueing. We found a significant difference and a significant decrease in the computed risks of falling for most of types of soil especially for deformable soils which can lead to fall. Secondly, heel strike provides an approximation of the impulse response of the soil that can be analyzed with time and frequency-domain modeling. From these analyses, an index is computed enabling differentiation the types of soil.

Investigating haptic distance-to-break using linear and nonlinear materials in a simulated minimally invasive surgery task

Accurate detection of mediated haptic information in minimally invasive surgery (MIS) is critical for applying appropriate force magnitudes onto soft tissue with the aim of minimising tissue trauma. Force perception in MIS is a dynamic process, with surgeons' administration of force into tissue revealing information about the remote surgical site which further informs the surgeons' haptic interactions. The relationship between applied force and material deformation rate provides biomechanical information specifying the deformation distance remaining until a tissue will fail: which is termed distance-to-break (DTB). The current study demonstrates that observers can detect DTB while deforming simulated tissues and stop before reaching the tissues' failure points. The design of training simulators, control devices and automated robotic systems for applications outside of MIS is discussed. Practitioner Summary: In MIS, haptic information is critical for applying appropriate forces onto soft tissue to minimise tissue trauma. Observers used force information to detect how far they could deform a virtual tissue before it would break. The design of training simulators, control devices and automated robotic systems is discussed.

Pursuing prosthetic electronic skin

Skin plays an important role in mediating our interactions with the world. Recreating the properties of skin using electronic devices could have profound implications for prosthetics and medicine. The pursuit of artificial skin has inspired innovations in materials to imitate skin's unique characteristics, including mechanical durability and stretchability, biodegradability, and the ability to measure a diversity of complex sensations over large areas. New materials and fabrication strategies are being developed to make mechanically compliant and multifunctional skin-like electronics, and improve brain/machine interfaces that enable transmission of the skin's signals into the body. This Review will cover materials and devices designed for mimicking the skin's ability to sense and generate biomimetic signals.

The Effect of Global and Local Damping on the Perception of Hardness

In tele-operation systems, damping is often injected to guarantee system stability during contact with hard objects. In this study, we used psychophysical experiments to assess the effect of adding damping on the user's perception of object hardness. In Experiments 1 and 2, combinations of stiffness and damping were tested to assess their effect on perceived hardness. In both experiments, two tasks were used: an in-contact task, starting at the object's surface, and a contact-transition task, including a free-air movement. In Experiment 3, the difference between inserting damping globally (equally throughout the workspace) and locally (inside the object only) was tested. In all experiments, the correlation between the participant's perceptual decision and force and position data was also investigated. Experiments 1 and 2 show that when injecting damping globally, perceived hardness slightly increased for an in-contact task, while it decreased considerably for a contact-transition task. Experiment 3 shows that this effect was mainly due to inserting damping globally, since there was a large perceptual difference between inserting damping globally and locally. The force and position parameters suggest that participants used the same force profile during the two movements of one trial and assessed the system's reaction to this force to perceive hardness.

Brief hind paw stimulation is sufficient to induce delayed somatosensory discrimination learning in C57BL/6 mice

Somatosensory learning and memory studies in rodents have primarily focused on the role of whiskers and the barrel structure of the sensory cortex, characteristics unique to rodents. In contrast, whether associative learning can occur in animals (and humans) via foot stimulation remains unclear. The sensory cortex corresponding to the plantar foot surface is localized in the centroparietal area, providing relatively easy access for studying somatosensory learning and memory. To assess the contribution of sole stimulation to somatosensory learning and memory, we developed a novel operant-lever-pressing task. In Experiment 1, head-fixed mice were trained to press a lever to receive a water reward upon presentation of an associated stimulus (S+). Following training, they were administered a reversal-learning protocol, in which "S+ " and "S-" (a stimulus not associated with reward) were switched. Mice were then submitted to training with a progressively extended delay period between stimulation and lever presentation. In Experiment 2, the delayed discrimination training was replicated with longer delay periods and restricted training days, to further explore the results of Experiment 1. When the stimuli were presented to a single left hind paw, we found that male C57BL/6J mice were capable of learning to discriminate between different foot stimuli (electrical or mechanical), and of retaining this information for 10s. This novel task has potential applications for electrophysiological and optogenetic studies to clarify the neural circuits underlying somatosensory learning and behavior.

Touch influences perceived gloss

Identifying an object's material properties supports recognition and action planning: we grasp objects according to how heavy, hard or slippery we expect them to be. Visual cues to material qualities such as gloss have recently received attention, but how they interact with haptic (touch) information has been largely overlooked. Here, we show that touch modulates gloss perception: objects that feel slippery are perceived as glossier (more shiny).Participants explored virtual objects that varied in look and feel. A discrimination paradigm (Experiment 1) revealed that observers integrate visual gloss with haptic information. Observers could easily detect an increase in glossiness when it was paired with a decrease in friction. In contrast, increased glossiness coupled with decreased slipperiness produced a small perceptual change: the visual and haptic changes counteracted each other. Subjective ratings (Experiment 2) reflected a similar interaction - slippery objects were rated as glossier and vice versa. The sensory system treats visual gloss and haptic friction as correlated cues to surface material. Although friction is not a perfect predictor of gloss, the visual system appears to know and use a probabilistic relationship between these variables to bias perception - a sensible strategy given the ambiguity of visual clues to gloss.

Experimental Study on the Perception Characteristics of Haptic Texture by Multidimensional Scaling

Recent works regarding real texture perception demonstrate that physical factors such as stiffness and spatial period play a fundamental role in texture perception. This research used a multidimensional scaling (MDS) analysis to further characterize and quantify the effects of the simulation parameters on haptic texture rendering and perception. In a pilot experiment, 12 haptic texture samples were generated by using a 3-degrees-of-freedom (3-DOF) force-feedback device with varying spatial period, height, and stiffness coefficient parameter values. The subjects' perceptions of the virtual textures indicate that roughness, denseness, flatness and hardness are distinguishing characteristics of texture. In the main experiment, 19 participants rated the dissimilarities of the textures and estimated the magnitudes of their characteristics. The MDS method was used to recover the underlying perceptual space and reveal the significance of the space from the recorded data. The physical parameters and their combinations have significant effects on the perceptual characteristics. A regression model was used to quantitatively analyze the parameters and their effects on the perceptual characteristics. This paper is to illustrate that haptic texture perception based on force feedback can be modeled in two- or three-dimensional space and provide suggestions on improving perception-based haptic texture rendering.

Influence of physico-chemical, mechanical and morphological fingerpad properties on the frictional distinction of sticky/slippery surfaces

This study investigates how the fingerpad hydrolipid film, shape, roughness and rigidity influence the friction when it rubs surfaces situated in the slippery psychophysical dimension. The studied counterparts comprised two 'real' (physical) surfaces and two 'virtual' surfaces. The latter were simulated with a tactile stimulator named STIMTAC. Thirteen women and 13 men rubbed their right forefingers against the different surfaces as their arms were displaced by a DC motor providing constant velocity and sliding distance. Tangential and normal forces were measured with a specific tribometer. The fingerpad hydrolipid film was characterized by Fourier transform infrared spectroscopy. The shape and roughness of fingers were extrapolated from replicas. Indentation measurements were carried out to determine fingerpad effective elastic modulus. A clear difference was observed between women and men in terms of friction behaviour. The concept of tactile frictional contrast (TFC) which was introduced quantifies an individual's propensity to distinguish two surfaces frictionally. The lipids/water ratio and water amount on the finger skin significantly influenced the TFC. A correlation was observed between the TFC and fingerpad roughness, i.e. the height of the fingerpad ridges. This is essentially owing to gender differences. A significant difference between men's and women's finger topography was also noted, because our results suggested that men have rougher fingers than women. The friction measurements did not correlate with the fingerpad curvature nor with the epidermal ridges' spatial period.

The Effect of Task Instruction on Haptic Texture Processing: The Neural Underpinning of Roughness and Spatial Density Perception

Perceived roughness is associated with a variety of physical factors and multiple peripheral afferent types. The current study investigated whether this complexity of the mapping between physical and perceptual space is reflected at the cortical level. In an integrative psychophysical and imaging approach, we used dot pattern stimuli for which previous studies reported a simple linear relationship of interdot spacing and perceived spatial density and a more complex function of perceived roughness. Thus, by using both a roughness and a spatial estimation task, the physical and perceived stimulus characteristics could be dissociated, with the spatial density task controlling for the processing of low-level sensory aspects. Multivoxel pattern analysis was used to investigate which brain regions hold information indicative of the level of the perceived texture characteristics. While information about differences in perceived roughness was primarily available in higher-order cortices, that is, the operculo-insular cortex and a ventral visual cortex region, information about perceived spatial density could already be derived from early somatosensory and visual regions. This result indicates that cortical processing reflects the different complexities of the evaluated haptic texture dimensions. Furthermore, this study is to our knowledge the first to show a contribution of the visual cortex to tactile roughness perception.

The perception of materials through oral sensation

This paper presents the results of a multimodal study of oral perception conducted with a set of material samples made from metals, polymers and woods, in which both the somatosensory and taste factors were examined. A multidimensional scaling analysis coupled with subjective attribute ratings was performed to assess these factors both qualitatively and quantitatively. The perceptual somatosensory factors of warmth, hardness and roughness dominated over the basic taste factors, and roughness was observed to be a less significant sensation compared to touch-only experiments. The perceptual somatosensory ratings were compared directly with physical property data in order to assess the correlation between the perceived properties and measured physical properties. In each case, a strong correlation was observed, suggesting that physical properties may be useful in industrial design for predicting oral perception.

Tactual perception of liquid material properties

In this paper, studies into the tactual perception of two liquid material properties, viscosity and wetness, are reviewed. These properties are very relevant in the context of interaction with liquids, both real, such as cosmetics or food products, and simulated, as in virtual reality or teleoperation. Both properties have been the subject of psychophysical characterisation in terms of magnitude estimation experiments and discrimination experiments, which are discussed. For viscosity, both oral and manual perception is discussed, as well as the perception of the viscosity of a mechanical system. For wetness, the relevant cues are identified and factors affecting perception are discussed. Finally, some conclusions are drawn pertaining to both properties.

Modeling and rendering realistic textures from unconstrained tool-surface interactions

Texture gives real objects an important perceptual dimension that is largely missing from virtual haptic interactions due to limitations of standard modeling and rendering approaches. This paper presents a set of methods for creating a haptic texture model from tool-surface interaction data recorded by a human in a natural and unconstrained manner. The recorded high-frequency tool acceleration signal, which varies as a function of normal force and scanning speed, is segmented and modeled as a piecewise autoregressive (AR) model. Each AR model is labeled with the source segment's median force and speed values and stored in a Delaunay triangulation to create a model set for a given texture. We use these texture model sets to render synthetic vibration signals in real time as a user interacts with our TexturePad system, which includes a Wacom tablet and a stylus augmented with a Haptuator. We ran a human-subject study with two sets of ten participants to evaluate the realism of our virtual textures and the strengths and weaknesses of this approach. The results indicated that our virtual textures accurately capture and recreate the roughness of real textures, but other modeling and rendering approaches are required to completely match surface hardness and slipperiness.

Responses of cutaneous mechanoreceptors within fingerpad to stimulus information for tactile softness sensation of materials

Softness sensation is one of primitive tactile textures. While the psychophysical characteristics of softness sensation have been thoroughly studied, it is lack of a deep understanding of the underlying neuromechanical principles. On the stimulus-response processes of human fingerpad touching fabrics and the physiological properties of slowly adapting type I (SAIs) cutaneous mechanoreceptors within fingerpad, a fabric-skin-receptor coupling model was built and validated. By the fabric-skin-receptor model a series of numerical experiments was conducted, and how the evoked neural responses of cutaneous mechanoreceptors change with the composite compliance of both fingerpad skin and the materials in contact was investigated. The results indicated that the evoked neural responses of populations of cutaneous mechanoreceptors by the physical stimulus from fabrics were nearly proportional to the perceived softness magnitude, and nonlinearly increased and then decreased with the effective elastic modulus of fabrics or the relative elastic modulus of fabrics to soft tissues within fingerpad, where the nonlinear inflection point depended on the touching force level. Therefore, it concluded that the tactile judgment of the physical information for softness sensation of objects was an encoding of neural responses of populations of SAIs cutaneous mechanoreceptors, and the physical information depended on the mechanical interaction of fingerpad and objects in contact.

Haptic perception

Fueled by novel applications, interest in haptic perception is growing. This paper provides an overview of the state of the art of a number of important aspects of haptic perception. By means of touch we can not only perceive quite different material properties, such as roughness, compliance, friction, coldness and slipperiness, but we can also perceive spatial properties, such as shape, curvature, size and orientation. Moreover, the number of objects we have in our hand can be determined, either by counting or subitizing. All these aspects will be presented and discussed in this paper. Although our intuition tells us that touch provides us with veridical information about our environment, the existence of prominent haptic illusions will show otherwise. Knowledge about haptic perception is interesting from a fundamental viewpoint, but it also is of eminent importance in the technological development of haptic devices. At the end of this paper, a few recent applications will be presented. WIREs Cogn Sci 2013, 4:357-374. DOI: 10.1002/wcs.1238 CONFLICT OF INTEREST: The authors have declared no conflicts of interest for this article. For further resources related to this article, please visit the WIREs website.

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.

Crossmodal interactions of haptic and visual texture information in early sensory cortex

Both visual and haptic information add to the perception of surface texture. While prior studies have reported crossmodal interactions of both sensory modalities at the behavioral level, neuroimaging studies primarily investigated texture perception in separate visual and haptic paradigms. These experimental designs, however, only allowed to identify overlap in both sensory processing streams but no interaction of visual and haptic texture processing. By varying texture characteristics in a bimodal task, the current study investigated how these crossmodal interactions are reflected at the cortical level. We used fMRI to compare cortical activation in response to matching versus non-matching visual-haptic texture information. We expected that passive simultaneous presentation of matching visual-haptic input would be sufficient to induce BOLD responses graded with varying texture characteristics. Since no cognitive evaluation of the stimuli was required, we expected to find changes primarily at a rather early processing stage. Our results confirmed our assumptions by showing crossmodal interactions of visual-haptic texture information in early somatosensory and visual cortex. However, the nature of the crossmodal effects was slightly different in both sensory cortices. In early visual cortex, matching visual-haptic information increased the average activation level and induced parametric BOLD signal variations with varying texture characteristics. In early somatosensory cortex only the latter was true. These results challenge the notion that visual and haptic texture information is processed independently and indicate a crossmodal interaction of sensory information already at an early cortical processing stage.

Students' experiences of learning manual clinical skills through simulation

Learning manual skills is a fundamental part of health care education, and motor, sensory and cognitive learning processes are essential aspects of professional development. Simulator training has been shown to enhance factors that facilitate motor and cognitive learning. The present study aimed to investigate the students' experiences and thoughts about their learning through simulation skills training. The study was designed for an educational setting at a clinical skills centre. Ten third-year undergraduate nursing students performed urethral catheterisation, using the virtual reality simulator UrecathVision™, which has haptic properties. The students practised in pairs. Each session was videotaped and the video was used to stimulate recall in subsequent interviews. The interviews were analysed using qualitative content analysis. The analysis from interviews resulted in three themes: what the students learn, how the students learn, and the simulator's contribution to the students' learning. Students learned manual skills, how to perform the procedure, and professional behaviour. They learned by preparing, watching, practising and reflecting. The simulator contributed by providing opportunities for students to prepare for the skills training, to see anatomical structures, to feel resistance, and to become aware of their own performance ability. The findings show that the students related the task to previous experiences, used sensory information, tested themselves and practised techniques in a hands-on fashion, and reflected in and on action. The simulator was seen as a facilitator to learning the manual skills. The study design, with students working in pairs combined with video recording, was found to enhance opportunities for reflection.

Psychophysical dimensions of tactile perception of textures

This paper reviews studies on the tactile dimensionality of physical properties of materials in order to determine a common structure for these dimensions. Based on the commonality found in a number of studies and known mechanisms for the perception of physical properties of textures, we conclude that tactile textures are composed of three prominent psychophysical dimensions that are perceived as roughness/smoothness, hardness/softness, and coldness/warmness. The roughness dimension may be divided into two dimensions: macro and fine roughness. Furthermore, it is reasonable to consider that a friction dimension that is related to the perception of moistness/dryness and stickiness/slipperiness exists. Thus, the five potential dimensions of tactile perception are macro and fine roughness, warmness/coldness, hardness/softness, and friction (moistness/dryness, stickiness/slipperiness). We also summarize methods such as psychological experiments and mathematical approaches for structuring tactile dimensions and their limitations.