Influence of object shape on responses of human tactile afferents under conditions characteristic of manipulation

Using curvature information in haptic shape perception of 3D objects

Are humans able to perceive the circularity of a cylinder that is grasped by the hand? This study presents the findings of an experiment in which cylinders with a circular cross-section had to be distinguished from cylinders with an elliptical cross-section. For comparison, the ability to distinguish a square cuboid from a rectangular cuboid was also investigated. Both elliptical and rectangular shapes can be characterized by the aspect ratio, but elliptical shapes also contain curvature information. We found that an elliptical shape with an aspect ratio of only 1.03 could be distinguished from a circular shape both in static and dynamic touch. However, for a rectangular shape, the aspect ratio needed to be about 1.11 for dynamic touch and 1.15 for static touch in order to be discernible from a square shape. We conclude that curvature information can be employed in a reliable and efficient manner in the perception of 3D shapes by touch.

Transfer of the curvature aftereffect in dynamic touch

A haptic curvature aftereffect is a phenomenon in which the perception of a curved shape is systematically altered by previous contact to curvature. In the present study, the existence and intermanual transfer of curvature aftereffects for dynamic touch were investigated. Dynamic touch is characterized by motion contact between a finger and a stimulus. A distinction was made between active and passive contact of the finger on the stimulus surface. We demonstrated the occurrence of a dynamic curvature aftereffect and found a complete intermanual transfer of this aftereffect, which suggests that dynamically obtained curvature information is represented at a high level. In contrast, statically perceived curvature information is mainly processed at a level that is connected to a single hand, as previous studies indicated. Similar transfer effects were found for active and passive dynamic touch, but a stronger aftereffect was obtained when the test surface was actively touched. We conclude that the representation of object information depends on the exploration mode that is used to acquire information.

Intramanual and intermanual transfer of the curvature aftereffect

The existence and transfer of a haptic curvature aftereffect was investigated to obtain a greater insight into neural representation of shape. The haptic curvature aftereffect is the phenomenon whereby a flat surface is judged concave if the preceding touched stimulus was convex and vice versa. Single fingers were used to touch the subsequently presented stimuli. A substantial aftereffect was found when the adaptation surface and the test surface were touched by the same finger. Furthermore, a partial, but significant transfer of the aftereffect was demonstrated between fingers of the same hand and between fingers of both the hands. These results provide evidence that curvature information is not only represented at a level that is directly connected to the mechanoreceptors of individual fingers but is also represented at a stage in the somatosensory cortex shared by the fingers of both the hands.

Bio-inspired sensorization of a biomechatronic robot hand for the grasp-and-lift task

It has been concluded from numerous neurophysiological studies that humans rely on detecting discrete mechanical events that occur when grasping, lifting and replacing an object, i.e., during a prototypical manipulation task. Such events represent transitions between phases of the evolving manipulation task such as object contact, lift-off, etc., and appear to provide critical information required for the sequential control of the task as well as for corrections and parameterization of the task. We have sensorized a biomechatronic anthropomorphic hand with the goal to detect such mechanical transients. The developed sensors were designed to specifically provide the information about task-relevant discrete events rather than to mimic their biological counterparts. To accomplish this we have developed (1) a contact sensor that can be applied to the surface of the robotic fingers and that show a sensitivity to indentation and a spatial resolution comparable to that of the human glabrous skin, and (2) a sensitive low-noise three-axial force sensor that was embedded in the robotic fingertips and showed a frequency response covering the range observed in biological tactile sensors. We describe the design and fabrication of these sensors, their sensory properties and show representative recordings from the sensors during grasp-and-lift tasks. We show how the combined use of the two sensors is able to provide information about crucial mechanical events during such tasks. We discuss the importance of the sensorized hand as a test bed for low-level grasp controllers and for the development of functional sensory feedback from prosthetic devices.

Neurophysiology of prehension. III. Representation of object features in posterior parietal cortex of the macaque monkey

Neurons in posterior parietal cortex (PPC) may serve both proprioceptive and exteroceptive functions during prehension, signaling hand actions and object properties. To assess these roles, we used digital video recordings to analyze responses of 83 hand-manipulation neurons in area 5 as monkeys grasped and lifted objects that differed in shape (round and rectangular), size (large and small spheres), and location (identical rectangular blocks placed lateral and medial to the shoulder). The task contained seven stages -- approach, contact, grasp, lift, hold, lower, relax -- plus a pretrial interval. The four test objects evoked similar spike trains and mean rate profiles that rose significantly above baseline from approach through lift, with peak activity at contact. Although representation by the spike train of specific hand actions was stronger than distinctions between grasped objects, 34% of these neurons showed statistically significant effects of object properties or hand postures on firing rates. Somatosensory input from the hand played an important role as firing rates diverged most prominently on contact as grasp was secured. The small sphere -- grasped with the most flexed hand posture -- evoked the highest firing rates in 43% of the population. Twenty-one percent distinguished spheres that differed in size and weight, and 14% discriminated spheres from rectangular blocks. Location in the workspace modulated response amplitude as objects placed across the midline evoked higher firing rates than positions lateral to the shoulder. We conclude that area 5 neurons, like those in area AIP, integrate object features, hand actions, and grasp postures during prehension.

Neurophysiology of prehension. II. Response diversity in primary somatosensory (S-I) and motor (M-I) cortices

Prehension responses of 76 neurons in primary somatosensory (S-I) and motor (M-I) cortices were analyzed in three macaques during performance of a grasp and lift task. Digital video recordings of hand kinematics synchronized to neuronal spike trains were compared with responses in posterior parietal areas 5 and AIP/7b (PPC) of the same monkeys during seven task stages: 1) approach, 2) contact, 3) grasp, 4) lift, 5) hold, 6) lower, and 7) relax. S-I and M-I firing patterns signaled particular hand actions, rather than overall task goals. S-I responses were more diverse than those in PPC, occurred later in time, and focused primarily on grasping. Sixty-three percent of S-I neurons fired at peak rates during contact and/or grasping. Lift, hold, and lowering excited fewer S-I cells. Only 8% of S-I cells fired at peak rates before contact, compared with 27% in PPC. M-I responses were also diverse, forming functional groups for hand preshaping, object acquisition, and grip force application. M-I activity began < or =500 ms before contact, coinciding with the earliest activity in PPC. Activation of specific muscle groups in the hand was paralleled by matching patterns of somatosensory feedback from S-I needed for efficient performance. These findings support hypotheses that predictive and planning components of prehension are represented in PPC and premotor cortex, whereas performance and feedback circuits dominate activity in M-I and S-I. Somatosensory feedback from the hand to S-I enables real-time adjustments of grasping by connections to M-I and updates future prehension plans through projections to PPC.

Control strategies in object manipulation tasks

The remarkable manipulative skill of the human hand is not the result of rapid sensorimotor processes, nor of fast or powerful effector mechanisms. Rather, the secret lies in the way manual tasks are organized and controlled by the nervous system. At the heart of this organization is prediction. Successful manipulation requires the ability both to predict the motor commands required to grasp, lift, and move objects and to predict the sensory events that arise as a consequence of these commands.

Microneurography as a tool in clinical neurophysiology to investigate peripheral neural traffic in humans

Microneurography is a method using metal microelectrodes to investigate directly identified neural traffic in myelinated as well as unmyelinated efferent and afferent nerves leading to and coming from muscle and skin in human peripheral nerves in situ. The present paper reviews how this technique has been used in clinical neurophysiology to elucidate the neural mechanisms of autonomic regulation, motor control and sensory functions in humans under physiological and pathological conditions. Microneurography is particularly important to investigate efferent and afferent neural traffic in unmyelinated C fibers. The recording of efferent discharges in postganglionic sympathetic C efferent fibers innervating muscle and skin (muscle sympathetic nerve activity; MSNA and skin sympathetic nerve activity; SSNA) provides direct information about neural control of autonomic effector organs including blood vessels and sweat glands. Sympathetic microneurography has become a potent tool to reveal neural functions and dysfunctions concerning blood pressure control and thermoregulation. This recording has been used not only in wake conditions but also in sleep to investigate changes in sympathetic neural traffic during sleep and sleep-related events such as sleep apnea. The same recording was also successfully carried out by astronauts during spaceflight. Recordings of afferent discharges from muscle mechanoreceptors have been used to understand the mechanisms of motor control. Muscle spindle afferent information is particularly important for the control of fine precise movements. It may also play important roles to predict behavior outcomes during learning of a motor task. Recordings of discharges in myelinated afferent fibers from skin mechanoreceptors have provided not only objective information about mechanoreceptive cutaneous sensation but also the roles of these signals in fine motor control. Unmyelinated mechanoreceptive afferent discharges from hairy skin seem to be important to convey cutaneous sensation to the central structures related to emotion. Recordings of afferent discharges in thin myelinated and unmyelinated fibers from nociceptors in muscle and skin have been used to provide information concerning pain. Recordings of afferent discharges of different types of cutaneous C-nociceptors identified by marking method have become an important tool to reveal the neural mechanisms of cutaneous sensations such as an itch. No direct microneurographic evidence has been so far proved regarding the effects of sympathoexcitation on sensitization of muscle and skin sensory receptors at least in healthy humans.

Sensory signals in neural populations underlying tactile perception and manipulation

For humans to manipulate an object successfully, the motor control system must have accurate information about parameters such as the shape of the stimulus, its position of contact on the skin, and the magnitude and direction of contact force. The same information is required for perception during haptic exploration of an object. Much of these data are relayed by the mechanoreceptive afferents innervating the glabrous skin of the digits. Single afferent responses are modulated by all the relevant stimulus parameters. Thus, only in complete population reconstructions is it clear how each of the parameters can be signaled to the brain independently when many are changing simultaneously, as occurs in most normal movements or haptic exploration. Modeling population responses reveals how resolution is affected by neural noise and intrinsic properties of the population such as the pattern and density of innervation and the covariance of response variability.

First spikes in ensembles of human tactile afferents code complex spatial fingertip events

It is generally assumed that primary sensory neurons transmit information by their firing rates. However, during natural object manipulations, tactile information from the fingertips is used faster than can be readily explained by rate codes. Here we show that the relative timing of the first impulses elicited in individual units of ensembles of afferents reliably conveys information about the direction of fingertip force and the shape of the surface contacting the fingertip. The sequence in which different afferents initially discharge in response to mechanical fingertip events provides information about these events faster than the fastest possible rate code and fast enough to account for the use of tactile signals in natural manipulation.