Tactile roughness discrimination of the finger pad relies primarily on vibration sensitive afferents not necessarily located in the hand

Humans sense by touch the location of objects that roll in handheld containers

Humans use active touch to gain behaviourally relevant information from their environment, including information about contained objects. Although most common, the perceptual basis of interacting with containers remains largely unexplored. The first aim of this study was to determine how accurately people can sense, by touch only, the location of a contained rolling object. Experiment 1 used tubes containing physical balls and demonstrated a considerable degree of accuracy in estimating the rolled distance. The second aim was to identify the relative effectiveness of the various available physical cues. Experiment 2 employed virtual reality technology to present, in isolation and in various combinations, the constituent haptic cues produced by a rolling ball, which are, the mechanical noise during rolling, the jolts from an impact with an internal wall, and the intensity and timing of the jolts resulting from elastic bounces. The rolling noise was of primary importance to the perceptual estimation task suggesting that the implementation of the laws of motion is based on an analysis of the ball's movement velocity. Although estimates became more accurate when the rolling and impact cues were combined, they were not necessarily more precise. The presence of elastic bounces did not affect performance.

EEG guided electrical stimulation parameters generation from texture force profiles

Objective.Our aim is to enhance sensory perception and spatial presence in artificial interfaces guided by EEG. This is done by developing a closed-loop electro-tactile system guided by EEG that adaptively update the electrical stimulation parameters to achieve EEG responses similar to the EEG responses generated from touching textured surface.Approach.In this work, we introduce a model that defines the relationship between the contact force profiles and the electrical stimulation parameters. This is done by using the EEG and force data collected from two experiments. The first was conducted by moving a set of textured surfaces against the subjects' fingertip, while collecting both EEG and force data. Whereas the second was carried out by applying a set of different pulse and amplitude modulated electrical stimuli to the subjects' index finger while recording EEG.Main results.We were able to develop a model which could generate electrical stimulation parameters corresponding to different textured surfaces. We showed by offline testing and validation analysis that the average error between the EEG generated from the estimated electrical stimulation parameters and the actual EEG generated from touching textured surfaces is around 7%.Significance.Haptic feedback plays a vital role in our daily life, as it allows us to become aware of our environment. Even though a number of methods have been developed to measure perception of spatial presence and provide sensory feedback in virtual reality environments, there is currently no closed-loop control of sensory stimulation. The proposed model provides an initial step towards developing a closed loop electro-tactile haptic feedback model that delivers more realistic touch sensation through electrical stimulation.

Texture recognition based on multi-sensory integration of proprioceptive and tactile signals

The sense of touch plays a fundamental role in enabling us to interact with our surrounding environment. Indeed, the presence of tactile feedback in prostheses greatly assists amputees in doing daily tasks. In this line, the present study proposes an integration of artificial tactile and proprioception receptors for texture discrimination under varying scanning speeds. Here, we fabricated a soft biomimetic fingertip including an 8 × 8 array tactile sensor and a piezoelectric sensor to mimic Merkel, Meissner, and Pacinian mechanoreceptors in glabrous skin, respectively. A hydro-elastomer sensor was fabricated as an artificial proprioception sensor (muscle spindles) to assess the instantaneous speed of the biomimetic fingertip. In this study, we investigated the concept of the complex receptive field of RA-I and SA-I afferents for naturalistic textures. Next, to evaluate the synergy between the mechanoreceptors and muscle spindle afferents, ten naturalistic textures were manipulated by a soft biomimetic fingertip at six different speeds. The sensors' outputs were converted into neuromorphic spike trains to mimic the firing pattern of biological mechanoreceptors. These spike responses are then analyzed using machine learning classifiers and neural coding paradigms to explore the multi-sensory integration in real experiments. This synergy between muscle spindle and mechanoreceptors in the proposed neuromorphic system represents a generalized texture discrimination scheme and interestingly irrespective of the scanning speed.

Masking Vibrations and Contact Force Affect the Discrimination of Slip Motion Speed in Touch

Multiple cues contribute to the discrimination of slip motion speed by touch. In our previous article, we demonstrated that masking vibrations at various frequencies impaired the discrimination of speed. In this article, we extended the previous results to evaluate this phenomenon on a smooth glass surface, and for different values of contact force and duration of the masking stimulus. Speed discrimination was significantly impaired by masking vibrations at high but not at low contact force. Furthermore, a short pulse of masking vibrations at motion onset produced a similar effect as the long masking stimulus, delivered throughout slip motion duration. This last result suggests that mechanical events at motion onset provide important cues to the discrimination of speed.

The spatial profile of skin indentation shapes tactile perception across stimulus frequencies

Multiple human sensory systems exhibit sensitivity to spatial and temporal variations of physical stimuli. Vision has evolved to offer high spatial acuity with limited temporal sensitivity, while audition has developed complementary characteristics. Neural coding in touch has been believed to transition from a spatial to a temporal domain in relation to surface scale, such that coarse features (e.g., a braille cell or corduroy texture) are coded as spatially distributed signals, while fine textures (e.g., fine-grit sandpaper) are encoded by temporal variation. However, the interplay between the two domains is not well understood. We studied tactile encoding with a custom-designed pin array apparatus capable of deforming the fingerpad at 5 to 80 Hz in each of 14 individual locations spaced 2.5 mm apart. Spatial variation of skin indentation was controlled by moving each of the pins at the same frequency and amplitude, but with phase delays distributed across the array. Results indicate that such stimuli enable rendering of shape features at actuation frequencies up to 20 Hz. Even at frequencies > 20 Hz, however, spatial variation of skin indentation continues to play a vital role. In particular, perceived roughness is affected by spatial variation within the fingerpad even at 80 Hz. We provide evidence that perceived roughness is encoded via a summary measure of skin displacement. Relative displacements in neighboring pins of less than 10 µm generate skin stretch, which regulates the roughness percept.

Skin and Mechanoreceptor Contribution to Tactile Input for Perception: A Review of Simulation Models

We review four current computational models that simulate the response of mechanoreceptors in the glabrous skin to tactile stimulation. The aim is to inform researchers in psychology, sensorimotor science and robotics who may want to implement this type of quantitative model in their research. This approach proves relevant to understanding of the interaction between skin response and neural activity as it avoids some of the limitations of traditional measurement methods of tribology, for the skin, and neurophysiology, for tactile neurons. The main advantage is to afford new ways of looking at the combined effects of skin properties on the activity of a population of tactile neurons, and to examine different forms of coding by tactile neurons. Here, we provide an overview of selected models from stimulus application to neuronal spiking response, including their evaluation in terms of existing data, and their applicability in relation to human tactile perception.

Cutaneous Sensitivity Across Regions of the Foot Sole and Dorsum are Influenced by Foot Posture

Understanding the processing of tactile information is crucial for the development of biofeedback interventions that target cutaneous mechanoreceptors. Mechanics of the skin have been shown to influence cutaneous tactile sensitivity. It has been established that foot skin mechanics are altered due to foot posture, but whether these changes affect cutaneous sensitivity are unknown. The purpose of this study was to investigate the potential effect of posture-mediated skin deformation about the ankle joint on perceptual measures of foot skin sensitivity. Participants (N = 20) underwent perceptual skin sensitivity testing on either the foot sole (N = 10) or dorsum (N = 10) with the foot positioned in maximal dorsiflexion/toe extension, maximal plantarflexion/toe flexion, and a neutral foot posture. Perceptual tests included touch sensitivity, stretch sensitivity, and spatial acuity. Regional differences in touch sensitivity were found across the foot sole (p < 0.001) and dorsum (p < 0.001). Touch sensitivity also significantly increased in postures where the skin was compressed (p = 0.001). Regional differences in spatial acuity were found on the foot sole (p = 0.002) but not dorsum (p = 0.666). Spatial acuity was not significantly altered by posture across the foot sole and dorsum, other than an increase in sensitivity at the medial arch in the dorsiflexion posture (p = 0.006). Posture*site interactions were found for stretch sensitivity on the foot sole and dorsum in both the transverse and longitudinal directions (p < 0.005). Stretch sensitivity increased in postures where the skin was pre-stretched on both the foot sole and dorsum. Changes in sensitivity across locations and postures were believed to occur due to concurrent changes in skin mechanics, such as skin hardness and thickness, which follows our previous findings. Future cutaneous biofeedback interventions should be applied with an awareness of these changes in skin sensitivity, to maximize their effectiveness for foot sole and dorsum input.

The interaction between motion and texture in the sense of touch

Besides providing information on elementary properties of objects, like texture, roughness, and softness, the sense of touch is also important in building a representation of object movement and the movement of our hands. Neural and behavioral studies shed light on the mechanisms and limits of our sense of touch in the perception of texture and motion, and of its role in the control of movement of our hands. The interplay between the geometrical and mechanical properties of the touched objects, such as shape and texture, the movement of the hand exploring the object, and the motion felt by touch, will be discussed in this article. Interestingly, the interaction between motion and textures can generate perceptual illusions in touch. For example, the orientation and the spacing of the texture elements on a static surface induces the illusion of surface motion when we move our hand on it or can elicit the perception of a curved trajectory during sliding, straight hand movements. In this work we present a multiperspective view that encompasses both the perceptual and the motor aspects, as well as the response of peripheral and central nerve structures, to analyze and better understand the complex mechanisms underpinning the tactile representation of texture and motion. Such a better understanding of the spatiotemporal features of the tactile stimulus can reveal novel transdisciplinary applications in neuroscience and haptics.

Effects of receptor density on the tactile perception of roughness: implications for neural mechanisms of texture perception

Aim of the study: The purpose of this study was to investigate the effects of receptor density in the glabrous skin of the hand on the perception of the roughness of a textured surface.Materials and methods: This was done by having observers make magnitude estimates of the perceived roughness of raised-dot surfaces at the fingertip, with its high receptor density, and the thenar eminence, with its much lower receptor density.Results: Judgments of perceived roughness averaged over the inter-dot spacings (0.8-5.9 mm) employed in the study did not differ significantly between the two sites, which suggested that roughness perception is not exclusively dependent upon a neural code involving variation in the activity levels of the nerve fibers of spatially distributed receptors, as is the case in spatial discrimination tasks such as spatial-gap detection, grove-orientation discrimination and letter recognition. This hypothesis was further supported by the finding that the elimination of temporal cues by preventing movement of the skin over the raised-dot surface drastically impaired judgments of perceived roughness at the thenar but had little effect on judgments of perceived roughness at the fingertip.Conclusion: These findings suggested that the neural code for perceived roughness at the fingertip is mediated primarily by spatial variation in the activity levels of spatially distributed receptors whereas the neural code for perceived roughness at the thenar is mediated primarily by temporal variation in the activity levels of individual receptors.

Rendering Spatiotemporal Haptic Effects Via the Physics of Waves in the Skin

A major challenge in haptic engineering has been to design practical methods to efficiently stimulate distributed areas of skin. Here, we show how to use a single actuator to generate vibrotactile stimuli which cause sensations of temporally varying spatial extent. Through optical vibrometry methods, we show that vibrational stimuli applied at the fingertip elicit waves in the finger that propagate proximally toward the hand and show how the frequency-dependent damping behavior of skin causes propagation distances to decrease rapidly with increasing frequency of stimulation. Utilizing these results, we design haptic stimuli applied through a single actuator that produces wavefields that expand or contract in size. In a perception experiment, participants accurately (median $>$95%) identified these stimuli as expanding or contracting without prior exposure or training. As a potential application, we used these effects as haptic cues for interactions in virtual reality. We show through a second experiment that the spatiotemporal haptic stimuli were rated as significantly more engaging than conventional vibrotactile stimuli. These findings demonstrate how the physics of waves in skin can be utilized to excite spatiotemporal tactile effects over large surface areas with a single actuator, and inform methods to utilize the effects in practical applications.

Localizable Button Click Rendering via Active Lateral Force Feedback

In this article, we have developed a novel button click rendering mechanism based on active lateral force feedback. The effect can be localized because electroadhesion between a finger and a surface can be localized. Psychophysical experiments were conducted to evaluate the quality of a rendered button click, which subjects judged to be acceptable. Both the experiment results and the subjects' comments confirm that this button click rendering mechanism has the ability to generate a range of realistic button click sensations that could match subjects' different preferences. We can, thus, generate a button click on a flat surface without macroscopic motion of the surface in the lateral or normal direction, and can localize this haptic effect to an individual finger.

Compression of dynamic tactile information in the human hand

A key problem in the study of the senses is to describe how sense organs extract perceptual information from the physics of the environment. We previously observed that dynamic touch elicits mechanical waves that propagate throughout the hand. Here, we show that these waves produce an efficient encoding of tactile information. The computation of an optimal encoding of thousands of naturally occurring tactile stimuli yielded a compact lexicon of primitive wave patterns that sparsely represented the entire dataset, enabling touch interactions to be classified with an accuracy exceeding 95%. The primitive tactile patterns reflected the interplay of hand anatomy with wave physics. Notably, similar patterns emerged when we applied efficient encoding criteria to spiking data from populations of simulated tactile afferents. This finding suggests that the biomechanics of the hand enables efficient perceptual processing by effecting a preneuronal compression of tactile information.

Contact forces in roughness discrimination

Roughness perception through fingertip contact with a textured surface can involve spatial and temporal cues from skin indentation and vibration respectively. Both types of cue may be affected by contact forces when feeling a surface and we ask whether, on a given trial, discrimination performance relates to contact forces. We examine roughness discrimination performance in a standard psychophysical method (2-interval forced choice, in which the participant identifies which of two spatial textures formed by parallel grooves feels rougher) while continuously measuring the normal and tangential forces applied by the index finger. Fourteen participants discriminated spatial gratings in fine (spatial period of 320–580 micron) and coarse (1520–1920 micron) ranges using static pressing or sliding contact of the index finger. Normal contact force (mean and variability) during pressing or sliding had relatively little impact on accuracy of roughness judgments except when pressing on surfaces in the coarse range. Discrimination was better for sliding than pressing in the fine but not the coarse range. In contrast, tangential force fluctuations during sliding were strongly related to roughness judgment accuracy.

Implantable Neural Interfaces and Wearable Tactile Systems for Bidirectional Neuroprosthetics Systems

Neuroprosthetics and neuromodulation represent a promising field for several related applications in the central and peripheral nervous system, such as the treatment of neurological disorders, the control of external robotic devices, and the restoration of lost tactile functions. These actions are allowed by the neural interface, a miniaturized implantable device that most commonly exploits electrical energy to fulfill these operations. A neural interface must be biocompatible, stable over time, low invasive, and highly selective; the challenge is to develop a safe, compact, and reliable tool for clinical applications. In case of anatomical impairments, neuroprosthetics is bound to the need of exploring the surrounding environment by fast-responsive and highly sensitive artificial tactile sensors that mimic the natural sense of touch. Tactile sensors and neural interfaces are closely interconnected since the readouts from the first are required to convey information to the neural implantable apparatus. The role of these devices is pivotal hence technical improvements are essential to ensure a secure system to be eventually adopted in daily life. This review highlights the fundamental criteria for the design and microfabrication of neural interfaces and artificial tactile sensors, their use in clinical applications, and future enhancements for the release of a second generation of devices.

Representing Interpersonal Touch Directions by Tactile Apparent Motion Using Smart Bracelets

We present a novel haptic interaction to vibro-tactually connect an interpersonal touch using bracelet devices. A pair of bracelet devices identifies the user who is actively touching and the other who is passively touched, defining the direction as being from the former to the latter. By controlling the vibrational feedback, the pair induces a tactile apparent motion representing the direction between two hands. The bracelets are comprised of our developed interpersonal body area network module, an acceleration sensor, and a vibrator. The devices communicate with each other through electrical current flowing along the hands to identify the direction by sharing accelerations just before a touch and to synchronize the feedback in less than ten milliseconds. Experiment 1 demonstrates that the vibration propagated from a bracelet device to the wearer's hand is perceivable by another. Experiment 2 determines sets of optimal actuation parameters, stimulus onset asynchrony, and duration of vibration to induce the tactile apparent motion based on a psychophysical approach. In addition, vibration propagation between hands is observed. Experiment 3 demonstrates the capability of the developed device to present the haptic interaction.

Individual differences in cognitive processing for roughness rating of fine and coarse textures

Previous studies have demonstrated that skin vibration is an important factor affecting the roughness perception of fine textures. For coarse textures, the determining physical factor is much less clear and there are indications that this might be participant-dependent. In this paper, we focused on roughness perception of both coarse and fine textures of different materials (glass particle surfaces and sandpapers). We investigated the relationship between subjective roughness ratings and three physical parameters (skin vibration, friction coefficient, and particle size) within a group of 30 participants. Results of the glass particle surfaces showed both spatial information (particle size) and temporal information (skin vibration) had a high correlation with subjective roughness ratings. The former correlation was slightly but significantly higher than the latter. The results also indicated different weights of temporal information and spatial information for roughness ratings among participants. Roughness ratings of a different material (sandpaper versus glass particles) could be either larger, similar or smaller, indicating differences among individuals. The best way to describe our results is that in their perceptual evaluation of roughness, different individuals weight temporal information, spatial information, and other mechanical properties differently.

Impact of finger biophysical properties on touch gestures and tactile perception: Aging and gender effects

The human finger plays an extremely important role in tactile perception, but little is known about the role of its biophysical properties (mechanical properties, contact properties and surface topography) in tactile perception. In addition, the touch gestures used to perceive an object’s properties differ among people. We combined studies on the biophysical properties and the vibrations measured from the human finger to understand the age and gender effects on the tactile perception and the difference between the touch gestures. In addition, a new algorithm, Mel-frequency cepstral coefficients (MFCCs), was used to analyze the vibratory signal obtained from the physical contact of the finger, and a surface is proposed and validated. The values obtained regarding the correlation between the tribohaptic system results and the biophysical properties show that the Young’s modulus and the surface topography are the most important. An inverse correlation was observed between the MFCC and the tactile perception. This last observation explained the results of better tactile perception with left to right touch gestures. It also demonstrated a better tactile perception for women.

Remote tactile sensing system integrated with magnetic synapse

Mechanoreceptors in a fingertip convert external tactile stimulations into electrical signals, which are transmitted by the nervous system through synaptic transmitters and then perceived by the brain with high accuracy and reliability. Inspired by the human synapse system, this paper reports a robust tactile sensing system consisting of a remote touch tip and a magnetic synapse. External pressure on the remote touch tip is transferred in the form of air pressure to the magnetic synapse, where its variation is converted into electrical signals. The developed system has high sensitivity and a wide dynamic range. The remote sensing system demonstrated tactile capabilities over wide pressure range with a minimum detectable pressure of 6 Pa. In addition, it could measure tactile stimulation up to 1,000 Hz without distortion and hysteresis, owing to the separation of the touching and sensing parts. The excellent performance of the system in terms of surface texture discrimination, heartbeat measurement from the human wrist, and satisfactory detection quality in water indicates that it has considerable potential for various mechanosensory applications in different environments.

Tactile Perception of Roughness and Hardness to Discriminate Materials by Friction-Induced Vibration

The human fingertip is an exquisitely powerful bio-tactile sensor in perceiving different materials based on various highly-sensitive mechanoreceptors distributed all over the skin. The tactile perception of surface roughness and material hardness can be estimated by skin vibrations generated during a fingertip stroking of a surface instead of being maintained in a static position. Moreover, reciprocating sliding with increasing velocities and pressures are two common behaviors in humans to discriminate different materials, but the question remains as to what the correlation of the sliding velocity and normal load on the tactile perceptions of surface roughness and hardness is for material discrimination. In order to investigate this correlation, a finger-inspired crossed-I beam structure tactile tester has been designed to mimic the anthropic tactile discrimination behaviors. A novel method of characterizing the fast Fourier transform integral (FFT) slope of the vibration acceleration signal generated from fingertip rubbing on surfaces at increasing sliding velocity and normal load, respectively, are defined as k_v and k_w, and is proposed to discriminate the surface roughness and hardness of different materials. Over eight types of materials were tested, and they proved the capability and advantages of this high tactile-discriminating method. Our study may find applications in investigating humanoid robot perceptual abilities.

Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives

In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand.

The biology of skin wetness perception and its implications in manual function and for reproducing complex somatosensory signals in neuroprosthetics

Our perception of skin wetness is generated readily, yet humans have no known receptor (hygroreceptor) to signal this directly. It is easy to imagine the sensation of water running over our hands or the feel of rain on our skin. The synthetic sensation of wetness is thought to be produced from a combination of specific skin thermal and tactile inputs, registered through thermoreceptors and mechanoreceptors, respectively. The present review explores how thermal and tactile afference from the periphery can generate the percept of wetness centrally. We propose that the main signals include information about skin cooling, signaled primarily by thinly myelinated thermoreceptors, and rapid changes in touch, through fast-conducting, myelinated mechanoreceptors. Potential central sites for integration of these signals, and thus the perception of skin wetness, include the primary and secondary somatosensory cortices and the insula cortex. The interactions underlying these processes can also be modeled to aid in understanding and engineering the mechanisms. Furthermore, we discuss the role that sensing wetness could play in precision grip and the dexterous manipulation of objects. We expand on these lines of inquiry to the application of the knowledge in designing and creating skin sensory feedback in prosthetics. The addition of real-time, complex sensory signals would mark a significant advance in the use and incorporation of prosthetic body parts for amputees in everyday life.NEW & NOTEWORTHY Little is known about the underlying mechanisms that generate the perception of skin wetness. Humans have no specific hygroreceptor, and thus temperature and touch information combine to produce wetness sensations. The present review covers the potential mechanisms leading to the perception of wetness, both peripherally and centrally, along with their implications for manual function. These insights are relevant to inform the design of neuroengineering interfaces, such as sensory prostheses for amputees.

Spatial patterns of cutaneous vibration during whole-hand haptic interactions

We investigated the propagation patterns of cutaneous vibration in the hand during interactions with touched objects. Prior research has highlighted the importance of vibrotactile signals during haptic interactions, but little is known of how vibrations propagate throughout the hand. Furthermore, the extent to which the patterns of vibrations reflect the nature of the objects that are touched, and how they are touched, is unknown. Using an apparatus comprised of an array of accelerometers, we mapped and analyzed spatial distributions of vibrations propagating in the skin of the dorsal region of the hand during active touch, grasping, and manipulation tasks. We found these spatial patterns of vibration to vary systematically with touch interactions and determined that it is possible to use these data to decode the modes of interaction with touched objects. The observed vibration patterns evolved rapidly in time, peaking in intensity within a few milliseconds, fading within 20-30 ms, and yielding interaction-dependent distributions of energy in frequency bands that span the range of vibrotactile sensitivity. These results are consistent with findings in perception research that indicate that vibrotactile information distributed throughout the hand can transmit information regarding explored and manipulated objects. The results may further clarify the role of distributed sensory resources in the perceptual recovery of object attributes during active touch, may guide the development of approaches to robotic sensing, and could have implications for the rehabilitation of the upper extremity.

EEG frequency tagging to explore the cortical activity related to the tactile exploration of natural textures

When sliding our fingertip against a textured surface, complex vibrations are produced in the skin. It is increasingly recognised that the neural transduction and processing of these vibrations plays an important role in the dynamic tactile perception of textures. The aim of the present study was to develop a novel means to tag the cortical activity related to the processing of these vibrations, by periodically modulating the amplitude of texture exploration-induced vibrations such as to record a steady-state evoked potential (SS-EP). The EEG was recorded while the right index fingertip was scanned against four different textures using a constant exploration velocity. Amplitude modulation of the elicited vibrations was achieved by periodically modulating the force applied against the finger. Frequency analysis of the recorded EEG signals showed that modulation of the vibrations induced by the fingertip-texture interactions elicited an SS-EP at the frequency of modulation (3 Hz) as well as its second harmonic (6 Hz), maximal over parietal regions contralateral to the stimulated side. Textures generating stronger vibrations also generated SS-EPs of greater magnitude. Our results suggest that frequency tagging using SS-EPs can be used to isolate and explore the brain activity related to the tactile exploration of natural textures.

Effect of imperceptible vibratory noise applied to wrist skin on fingertip touch evoked potentials - an EEG study

Random vibration applied to skin can change the sense of touch. Specifically, low amplitude white-noise vibration can improve fingertip touch perception. In fact, fingertip touch sensation can improve even when imperceptible random vibration is applied to other remote upper extremity areas such as wrist, dorsum of the hand, or forearm. As such, vibration can be used to manipulate sensory feedback and improve dexterity, particularly during neurological rehabilitation. Nonetheless, the neurological bases for remote vibration enhanced sensory feedback are yet poorly understood. This study examined how imperceptible random vibration applied to the wrist changes cortical activity for fingertip sensation. We measured somatosensory evoked potentials to assess peak-to-peak response to light touch of the index fingertip with applied wrist vibration versus without. We observed increased peak-to-peak somatosensory evoked potentials with wrist vibration, especially with increased amplitude of the later component for the somatosensory, motor, and premotor cortex with wrist vibration. These findings corroborate an enhanced cortical-level sensory response motivated by vibration. It is possible that the cortical modulation observed here is the result of the establishment of transient networks for improved perception.

The role of tactile afference in shaping motor behaviour and implications for prosthetic innovation

The present review focusses on how tactile somatosensory afference is encoded and processed, and how this information is interpreted and acted upon in terms of motor control. We relate the fundamental workings of the sensorimotor system to the rehabilitation of amputees using modern prosthetic interventions. Our sense of touch is central to our everyday lives, from allowing us to manipulate objects accurately to giving us a sense of self-embodiment. There are a variety of specialised cutaneous mechanoreceptive afferents, which differ in terms of type and density according to the skin site. In humans, there is a dense innervation of our hands, which is reflected in their vast over-representation in somatosensory and motor cortical areas. We review the accumulated evidence from animal and human studies about the precise interplay between the somatosensory and motor systems, which is highly integrated in many brain areas and often not separable. The glabrous hand skin provides exquisite, discriminative detail about touch, which is useful for refining movements. When these signals are disrupted, such as through injury or amputation, the consequences are considerable. The development of sensory feedback in prosthetics offers a promising avenue for the full integration of a missing body part. Real-time touch feedback from motor intentions aids in grip control and the ability to distinguish different surfaces, even introducing the possibility of pleasure in artificial touch. Thus, our knowledge from fundamental research into sensorimotor interactions should be used to develop more realistic and integrative prostheses.

Effect of skin-transmitted vibration enhancement on vibrotactile perception

Vibration on skin elicited by the mechanical interaction of touch between the skin and an object propagates to skin far from the point of contact. This paper investigates the effect of skin-transmitted vibration on vibrotactile perception. To enhance the transmission of high-frequency vibration on the skin, stiff tape was attached to the skin so that the tape covered the bottom surface of the index finger from the periphery of the distal interphalangeal joint to the metacarpophalangeal joint. Two psychophysical experiments with high-frequency vibrotactile stimuli of 250 Hz were conducted. In the psychophysical experiments, discrimination and detection thresholds were estimated and compared between conditions of the presence or the absence of the tape (normal bare finger). A method of limits was applied for the detection threshold estimation, and the discrimination task using a reference stimulus and six test stimuli with different amplitudes was applied for the discrimination threshold estimation. The stimulation was given to bare fingertips of participants. Result showed that the detection threshold was enhanced by attaching the tape, and the discrimination threshold enhancement by attaching the tape was confirmed for participants who have relatively large discrimination threshold under normal bare finger. Then, skin-transmitted vibration was measured with an accelerometer with the psychophysical experiments. Result showed that the skin-transmitted vibration when the tape was attached to the skin was larger than that when normal bare skin. There is a correlation between the increase in skin-transmitted vibration and the enhancement of the discrimination threshold.

Natural scenes in tactile texture

Sensory systems are designed to extract behaviorally relevant information from the environment. In seeking to understand a sensory system, it is important to understand the environment within which it operates. In the present study, we seek to characterize the natural scenes of tactile texture perception. During tactile exploration complex high-frequency vibrations are elicited in the fingertip skin, and these vibrations are thought to carry information about the surface texture of manipulated objects. How these texture-elicited vibrations depend on surface microgeometry and on the biomechanical properties of the fingertip skin itself remains to be elucidated. Here we record skin vibrations, using a laser-Doppler vibrometer, as various textured surfaces are scanned across the finger. We find that the frequency composition of elicited vibrations is texture specific and highly repeatable. In fact, textures can be classified with high accuracy on the basis of the vibrations they elicit in the skin. As might be expected, some aspects of surface microgeometry are directly reflected in the skin vibrations. However, texture vibrations are also determined in part by fingerprint geometry. This mechanism enhances textural features that are too small to be resolved spatially, given the limited spatial resolution of the neural signal. We conclude that it is impossible to understand the neural basis of texture perception without first characterizing the skin vibrations that drive neural responses, given the complex dependence of skin vibrations on both surface microgeometry and fingertip biomechanics.

Physical factors influencing pleasant touch during tactile exploration

BACKGROUND

When scanning surfaces, humans perceive some of their physical attributes. These percepts are frequently accompanied by a sensation of (un)pleasantness. We therefore hypothesized that aspects of the mechanical activity induced by scanning surfaces with fingertips could be objectively associated with a pleasantness sensation. Previously, we developed a unidimensional measure of pleasantness, the Pleasant Touch Scale, quantifying the pleasantness level of 37 different materials. Findings of this study suggested that the sensation of pleasantness was influenced by the average magnitude of the frictional forces brought about by sliding the finger on the surface, and by the surface topography. In the present study, we correlated (i) characteristics of the fluctuations of frictional forces resulting from the interaction between the finger and the surface asperities as well as (ii) the average friction with the sensation of pleasantness.

RESULTS

Eight blindfolded participants tactually explored twelve materials of the Pleasant Touch Scale through lateral sliding movements of their index fingertip. During exploration, the normal and tangential interaction force components, fN and fT , as well as the fingertip trajectory were measured. The effect of the frictional force on pleasantness sensation was investigated through the analysis of the ratio fT to fN , i.e. the net coefficient of kinetic friction, μ. The influence of the surface topographies was investigated through analysis of rapid fT fluctuations in the spatial frequency domain. Results showed that high values of μ were anticorrelated with pleasantness. Furthermore, surfaces associated with fluctuations of fT having higher amplitudes in the low frequency range than in the high one were judged to be less pleasant than the surfaces yielding evenly distributed amplitudes throughout the whole spatial frequency domain.

CONCLUSION

Characteristics of the frictional force fluctuations and of the net friction taking place during scanning can reliably be correlated with the pleasantness sensation of surfaces.

Physical determinants of the shape of the psychophysical curve relating tactile roughness to raised-dot spacing: implications for neuronal coding of roughness

There are conflicting reports as to whether the shape of the psychometric relation between perceived roughness and tactile element spacing [spatial period (SP)] follows an inverted U-shape or a monotonic linear increase. This is a critical issue because the former result has been used to assess neuronal codes for roughness. We tested the hypothesis that the relation's shape is critically dependent on tactile element height (raised dots). Subjects rated the roughness of low (0.36 mm)- and high (1.8 mm)-raised-dot surfaces displaced under their fingertip. Inverted U-shaped curves were obtained as the SP of low-dot surfaces was increased (1.3-6.2 mm, tetragonal arrays); a monotonic increase was observed for high-dot surfaces. We hypothesized that roughness is not a single sensory continuum across the tested SPs of low-dot surfaces, predicting that roughness discrimination would show deviations from the invariant relation between threshold (ΔS) and the value of the standard (S) surface (Weber fraction, ΔS/S) expected for a single continuum. The results showed that Weber fractions were increased for SPs on the descending limb of the inverted U-shaped curve. There was also an increase in the Weber fraction for high-dot surfaces but only at the peak (3 mm), corresponding to the SP at which the slope of the psychometric function showed a modest decline. Together the results indicate that tactile roughness is not a continuum across low-dot SPs of 1.3-6.2 mm. These findings suggest that correlating the inverted U-shaped function with neuronal codes is of questionable validity. A simple intensive code may well contribute to tactile roughness.

Texture-induced vibrations in the forearm during tactile exploration

Humans can detect and discriminate between fine variations of surface roughness using active touch. It is hitherto believed that roughness perception is mediated mostly by cutaneous and subcutaneous afferents located in the fingertips. However, recent findings have shown that following abolishment of cutaneous afferences resulting from trauma or pharmacological intervention, the ability of subjects to discriminate between textures roughness was not significantly altered. These findings suggest that the somatosensory system is able to collect textural information from other sources than fingertip afference. It follows that signals resulting of the interaction of a finger with a rough surface must be transmitted to stimulate receptor populations in regions far away from the contact. This transmission was characterized by measuring in the wrist vibrations originating at the fingertip and thus propagating through the finger, the hand and the wrist during active exploration of textured surfaces. The spectral analysis of the vibrations taking place in the forearm tissues revealed regularities that were correlated with the scanned surface and the speed of exploration. In the case of periodic textures, the vibration signal contained a fundamental frequency component corresponding to the finger velocity divided by the spatial period of the stimulus. This regularity was found for a wide range of textural length scales and scanning velocities. For non-periodic textures, the spectrum of the vibration did not contain obvious features that would enable discrimination between the different stimuli. However, for both periodic and non-periodic stimuli, the intensity of the vibrations could be related to the microgeometry of the scanned surfaces.