Carrying the height of the world on your ankles: encumbering observers reduces estimates of how high an actor can jump

Entropy as a Window Into Behavioral Phase Transitions: Unveiling Contextual Dynamics in Affordance-Based Reaching

Prior work has demonstrated the presence of hysteresis effects in the control of affordance-guided behavior, in that behavioral transitions around a critical action boundary vary with directions of change in said action boundary. To date, research on this topic has overlooked the influence of the global context on these phenomena. We employ an affordance-based reaching task, whereby participants were asked to move a target to a goal by passing through one of two apertures (size variable or size constant). It was found that the direction of change in the size of the variable aperture influenced the point of behavioral transitions, and this effect interacted with the location of a given goal. In addition, we considered fluctuations in the entropy of participants' reach trajectories as a window into the nature of the behavioral phase transitions. Differences in the structure of entropy were found depending on the direction of change in the size variable aperture. These results are discussed in light of a dynamical systems approach, and recommendations for future work are made.

A systematic review of perception of affordances for the person-plus-object system

Human behavior often involves the use of an object held by or attached to the body, which modifies the individual's action capabilities. Moreover, most everyday behaviors consist of sets of behaviors that are nested over multiple spatial and temporal scales, which require perceiving and acting on nested affordances for the person-plus-object system. This systematic review investigates how individuals attune to information about affordances involving the person-plus-object system and how they (re)calibrate their actions to relevant information. We analyzed 71 articles-34 on attunement and 37 on (re)calibration with healthy participants-that experimentally investigated the processes involved in the perception of affordances for the person-plus-object system (including attunement, calibration, and recalibration). With respect to attunement, objects attached to the body create a multiplicity of affordances for the person-plus-object system, and individuals learned (1) to detect information about affordances of (and for) the person-plus-object system in a task and (2) to choose whether, when, and how to exploit those affordances to perform that task. Concerning (re)calibration, individuals were able (1) to quickly scale their actions in relation to the (changed) action capabilities of the person-plus-object system and (2) to perceive multiple functionally equivalent ways to exploit the affordances of that system, and these abilities improved with practice. Perceiving affordances for the person-plus-object system involves learning to detect the information about such affordances (attunement) and the scaling of behaviors to such information (calibration). These processes imply a general ability to incorporate an object attached to the body into an integrated person-plus-object system.

An examination of perceptual-motor recalibration in a 1-vs-1 anticipation test

This study examined the processes of perceptual-motor calibration/recalibration of defensive football players in a 1-vs-1 scenario. Ankle weights were used to reduce the acceleration capabilities of players performing an anticipation test, with the aim being to examine the player's response to the disturbance in terms of when movement was initiated and the impact on the mechanisms that underpinned anticipation, namely gaze behaviour. The ankle weights disturbed the perceptual-motor system and players initiated movement significantly earlier in the 1-vs-1 anticipation test. Analyses of perceptual-motor calibration/recalibration revealed that players acted closer to their maximal action capabilities prior to the addition of ankle weights, which negatively influenced the scaling of action capabilities. Moreover, players were unable to recalibrate whilst wearing ankle weights. However, following the withdrawal of the ankle weights, players were able to recalibrate within 11-15 trials. Players did not adapt gaze behaviour as a result of the disturbance being placed on the perceptual-motor system, but task familiarization resulted in more efficient eye movements. The results of this study show the importance of providing players the opportunity to "scale" action to perceptual information.

Perceptual-motor recalibration is intact in older adults

From an ecological perspective, perceptual-motor recalibration should be a robust and adaptable process, but there are suggestions that older adults may recalibrate slower. Therefore, this study investigated the age-related temporal effects in perceptual-motor recalibration after motor disturbances. In three experiments, we disturbed young and older adults' perception-action by fitting weights around their ankles and asking them to climb stairs or cross obstacles repeatedly. In Experiment 1, participants (n = 26) climbed stairs with different ankle weights. An innovative methodology was applied, identifying the timeline of recalibration as the point where a stable movement pattern emerged. Experiment 1 showed that older adults recalibrated slower than young adults in lighter (but not heavier) weight conditions. In Experiment 2, participants (n = 24) crossed obstacles with different ankle weights. Results showed that older adults recalibrated faster than young adults. Finally, in Experiment 3, participants (n = 24) crossed obstacles of unpredictable and varying heights with heavy ankle weights. Again, results showed that older adults recalibrated faster than young adults. Taken together these results show that although older adults had reduced muscle strength and flexibility, they recalibrated quickly, especially when the task was more challenging.

Addressing joint action challenges in HRI: Insights from psychology and philosophy

The vast expansion of research in human-robot interactions (HRI) these last decades has been accompanied by the design of increasingly skilled robots for engaging in joint actions with humans. However, these advances have encountered significant challenges to ensure fluent interactions and sustain human motivation through the different steps of joint action. After exploring current literature on joint action in HRI, leading to a more precise definition of these challenges, the present article proposes some perspectives borrowed from psychology and philosophy showing the key role of communication in human interactions. From mutual recognition between individuals to the expression of commitment and social expectations, we argue that communicative cues can facilitate coordination, prediction, and motivation in the context of joint action. The description of several notions thus suggests that some communicative capacities can be implemented in the context of joint action for HRI, leading to an integrated perspective of robotic communication.

Effort-Based Decision-Making and Gross Motor Performance: Are They Linked?

The purpose of this study was to investigate the relationship between effort-based decision making and gross motor performance. Effort-based decision making was measured using a modified version of the Effort Expenditure for Rewards Task (EEfRT), in which participants pressed a button on a keyboard to fill a bar on a screen for monetary reward. Participants received monetary rewards that were commensurate with the level of effort that they were willing to expend. Gross motor performance was measured with a walking task, in which participants matched their steps to the beat of an audio metronome; they walked to metronome beats that were slower and also faster than their normal walking pace. We hypothesized that increased effort during the effort-based decision making task would be paired with an increase in steps taken per minute during the gross motor task. However, the results of this study indicated a lack of a statistically significant relationship between the effort-based decision making task and the gross motor task. Planning rather than decision-making may have been the cognitive construct that governed our gross motor task. These findings can be beneficial when thinking about potential interventions for populations who experience deficits in motor performance and cognition as well as for understanding the relationship between both cognitive and motor performance in healthy adults.

Does lacking information about your affordances impact your perception of others' affordances? A test of the embodied simulation hypothesis

It has been argued that observers perceive actors' affordances via embodied simulation, that is, first perceiving their own affordance, which serves as a model for the actor's affordance, and then adjusting that model to account for differences between themselves and the actor. If so, then preventing observers from picking up information about their own affordances should cause several effects. Specifically, observers should make more errors about the actor's affordance compared to when the observer is free to pick up information about their own affordance. In addition, judgments about the actor's affordance should align better with the observer's affordance than with the actor's affordance, and increase in error as differences between the observer's and actor's affordances increase. The present study tested those predictions. To do so, observers (participants) made judgments about the farthest distance that an actor (a confederate) could reach. The observer's arms were either free to move or were immobilized by having the participant hold them behind their back. The present results did not support the predictions. The present research introduces a novel means for evaluating the Embodied Simulation Hypothesis, provides initial tests of related predictions, and corroborates prior research. In addition, it motivates important questions about embodied simulation and affordance perception.

Influences of Experience and Visual Cues of Virtual Arm on Distance Perception

Egocentric distance perception refers to the perception of distance from a target to a perceiver, which is an important component of visual space perception. It is important to activities in virtual environments and influenced by several factors, such as action capacities and visual cues. However, few studies have investigated such aspects. Hence, Experiments 1 and 2 investigated the effect of using experience and visual cues, respectively, of virtual arms on egocentric distance perception in near and far spaces at equal, prolonged, and shortened lengths of a virtual arm. Results revealed that using experience and visual cues of the virtual arm had a significant effect on egocentric distance perception when the length of virtual arm was equal to the real arm and prolonged but not when shortened. The egocentric distance perception on the conditions of having using experience and virtual arm was most precise. The findings provide implications for the design and implementation of virtual body self-representation in virtual environments.

Sensitivity to changes in dynamic affordances for walking on land and at sea

We investigated the perception of affordances for walking along a narrow path. We asked whether participants could perceive changes in affordances brought about by manipulation of properties of the body, or of the environment, without direct practice of the to-be-perceived affordance, and without external feedback about the accuracy of perception. In Experiment 1, participants made a series of 8 judgments of how far they could walk along a narrow path either, 1) without added weight, 2) while wearing a weighted vest, or 3) while wearing weights on their ankles. Before walking, mean judgments were lower when wearing weights than in the no-weight condition. In addition, in both weight conditions judgments changed across the series of 8 judgments, in the direction of greater accuracy. Control of the body in walking also can be influenced by motion of the ground surface, as commonly happens in vehicles. In Experiment 2, on a ship at sea, we evaluated the effects of walking with or without weight added to the body at the ankles. We again asked participants (experienced maritime crewmembers) to judge how far they could walk along a narrow path, with versus without ankle weights. As in Experiment 1, judgments made before walking mirrored the observed differences in walking performance. In addition, we again found evidence that judgment improved (without walking practice, or feedback) over the series of judgments. We conclude that participants were sensitive to (and spontaneously learned about) how affordances for walking were influenced by changes in the dynamics of body and the environment.

Can I Choose a Throwable Object for You? Perceiving Affordances for Other Individuals

Throwing is an important motor skill for human survival and societal development. It has been shown that throwers could select throwable balls for themselves and ball throwability was determined by its size and weight. In this study, we investigated whether throwers could perceive ball throwability for other throwers (experimental confederates) and whether the perceived throwability for others also followed a size-weight relation. Like other types of affordances, throwability entails a scaling between the thrower and the throwing object. This requires knowledge about the thrower and the object. In this study, knowledge about the objects was gained by hefting balls of various sizes and weights; knowledge about the throwers was gained by interacting with throwers in person (Experiment 1) and by viewing videos of confederates throwing (containing kinematic and anthropometric information) or photographs of the confederates standing (containing anthropometric information; Experiment 2). By comparing observers' perceived throwability for others using various materials, we attempted to uncover whether scaling of throwability was based on kinematic or anthropometric information. In this study, participants ranked throwability of balls of various sizes and weights for confederates of different sexes and fitness levels. In all experimental conditions, observers' ranking and confederates' actual throwing performances yielded linear relationships with slopes close to 1 and moderate to high r 2 values. These suggested that participants were able to accurately perceive throwability and choose throwable balls for the confederates. The throwable balls followed a size-weight relation, where bigger balls had to weigh more to be perceived as throwable as smaller balls. Furthermore, there was no difference between throwability perception based on in-person interaction, watching videos of confederates throwing and seeing pictures of the confederates standing. This suggested that the scaling of throwability was likely to be based on anthropometric information. These results enriched our understanding of whether one could perceive the action opportunities for others, and extended the canonical Gibsonian concept of affordance to a social setting and thus could be important for understanding team coordination in sports and interpersonal action collaboration in general.

Decision-making in sensorimotor control

Skilled sensorimotor interactions with the world result from a series of decision-making processes that determine, on the basis of information extracted during the unfolding sequence of events, which movements to make and when and how to make them. Despite this inherent link between decision-making and sensorimotor control, research into each of these two areas has largely evolved in isolation, and it is only fairly recently that researchers have begun investigating how they interact and, together, influence behaviour. Here, we review recent behavioural, neurophysiological and computational research that highlights the role of decision-making processes in the selection, planning and control of goal-directed movements in humans and nonhuman primates.

Perception of another person's maximum reach-with-jump height from walking kinematics

Humans can perceive affordances (possibilities for action) for themselves and others, including the maximum overhead height reachable by jumping (reach-with-jump height, RWJ). While observers can accurately perceive maximum RWJ for another person without previously seeing the person jump, estimates improve after viewing the person walk, suggesting there is structure in walking kinematics that is informative about the ability to produce vertical force for jumping. We used principal component analysis (PCA) to identify patterns in human walking kinematics that specify another person's maximum RWJ ability, and to determine whether athletes are more sensitive than non-athletes to these patterns. Kinematic data during treadmill walking were collected and submitted to PCA to obtain loading values for the kinematic time series variables on the first principal component. Kinematic data were also used to create point-light (PL) displays, in which the movement kinematics of PL walkers were manipulated using the obtained PCA loading values to determine how changes in body-segment movements impacted perception of maximum RWJ height. While manipulating individual segmental loadings in the PL displays did not substantially affect RWJ estimates, PL displays created by replacing the PCA loadings of a high-jumper with those of a low-jumper, and vice versa, resulted in corresponding reversals of participants' RWJ estimates, suggesting that the global structure of walking kinematics carries information about another's maximum RWJ height. Athletes exhibited greater sensitivity than controls to the kinematic manipulations, indicating that they are better attuned to useful kinematic information as a result of their sport experience.

Children's perception of action boundaries and how it affects their climbing behavior

There are some concerns that children today may be less calibrated to their action capabilities because of the "risk-free" culture that has proliferated during recent decades. This study investigated the extent to which judgments of reaching affordances presented in different directions (i.e., overhead, diagonal, and horizontal) are related to children's climbing behavior on a climbing wall. A sample of 30 schoolchildren from 6 to 11years old (20 boys and 10 girls) estimated maximum reach and grasp distances and subsequently attempted to climb across an indoor climbing wall. Children who perceived the extents of their reach more accurately completed the climb more often and more quickly. Judgments in the primary directions of climbing locomotion (horizontal and diagonal) were better predictors of success than vertical judgments. Judgments about whether objects are reachable and graspable are complex and influenced by various dynamic factors (including perceptual-motor calibration), and as such different levels of accuracy are likely in different reaching directions. It appears that young children are relatively sensitive to their action boundaries for climbing and, therefore, may be able to make informed decisions themselves about whether a surface is climbable.

Joint Action: Mental Representations, Shared Information and General Mechanisms for Coordinating with Others

In joint action, multiple people coordinate their actions to perform a task together. This often requires precise temporal and spatial coordination. How do co-actors achieve this? How do they coordinate their actions toward a shared task goal? Here, we provide an overview of the mental representations involved in joint action, discuss how co-actors share sensorimotor information and what general mechanisms support coordination with others. By deliberately extending the review to aspects such as the cultural context in which a joint action takes place, we pay tribute to the complex and variable nature of this social phenomenon.

Discovering your inner Gibson: reconciling action-specific and ecological approaches to perception-action

Both the action-specific perception account and the ecological approach to perception-action emphasize the role of action in perception. However, the action-specific perception account demonstrates that different percepts are possible depending on the perceiver's ability to act, even when the same optical information is available. These findings challenge one of the fundamental claims of the ecological approach--that perception is direct--by suggesting that perception is mediated by internal processes. Here, we sought to resolve this apparent discrepancy. We contend that perception is based on the controlled detection of the information available in a global array that includes higher-order patterns defined across interoceptive and exteroceptive stimulus arrays. These higher-order patterns specify the environment in relation to the perceiver, so direct sensitivity to them would be consistent with the ecological claims that perception of the environment is direct and animal-specific. In addition, the action-specific approach provides further evidence for the theory of affordances, by demonstrating that even seemingly abstract properties of the environment, such as distance and size, are ultimately perceived in terms of an agent's action capabilities.

The Fox and the Grapes-How Physical Constraints Affect Value Based Decision Making

One fundamental question in decision making research is how humans compute the values that guide their decisions. Recent studies showed that people assign higher value to goods that are closer to them, even when physical proximity should be irrelevant for the decision from a normative perspective. This phenomenon, however, seems reasonable from an evolutionary perspective. Most foraging decisions of animals involve the trade-off between the value that can be obtained and the associated effort of obtaining. Anticipated effort for physically obtaining a good could therefore affect the subjective value of this good. In this experiment, we test this hypothesis by letting participants state their subjective value for snack food while the effort that would be incurred when reaching for it was manipulated. Even though reaching was not required in the experiment, we find that willingness to pay was significantly lower when subjects wore heavy wristbands on their arms. Thus, when reaching was more difficult, items were perceived as less valuable. Importantly, this was only the case when items were physically in front of the participants but not when items were presented as text on a computer screen. Our results suggest automatic interactions of motor and valuation processes which are unexplored to this date and may account for irrational decisions that occur when reward is particularly easy to reach.

Conversation and coordinative structures

People coordinate body postures and gaze patterns during conversation. We review literature showing that (1) action embodies cognition, (2) postural coordination emerges spontaneously when two people converse, (3) gaze patterns influence postural coordination, (4) gaze coordination is a function of common ground knowledge and visual information that conversants believe they share, and (5) gaze coordination is causally related to mutual understanding. We then consider how coordination, generally, can be understood as temporarily coupled neuromuscular components that function as a collective unit known as a coordinative structure in the motor control literature. We speculate that the coordination of gaze and body sway found in conversation may be understood as a cross-person coordinative structure that embodies the goals of the joint action system.

Common coding and dynamic interactions between observed, imagined, and experienced motor and somatosensory activity

Motor imagery and perception - considered generally as forms of motor simulation - share overlapping neural representations with motor production. While much research has focused on the extent of this "common coding," less attention has been paid to how these overlapping representations interact. How do imagined, observed, or produced actions influence one another, and how do we maintain control over our perception and behavior? In the first part of this review we describe interactions between motor production and motor simulation, and explore apparent regulatory mechanisms that balance these processes. Next, we consider the somatosensory system. Numerous studies now support a "sensory mirror system" comprised of neural representations activated by either afferent sensation or vicarious sensation. In the second part of this review we summarize evidence for shared representations of sensation and sensory simulation (including imagery and observed sensation), and suggest that similar interactions and regulation of simulation occur in the somatosensory domain as in the motor domain. We suggest that both motor and somatosensory simulations are flexibly regulated to support simulations congruent with our sensorimotor experience and goals and suppress or separate the influence of those that are not. These regulatory mechanisms are frequently revealed by cases of brain injury but can also be employed to facilitate sensorimotor rehabilitation.

Virtual arm's reach influences perceived distances but only after experience reaching

Considerable empirical evidence has shown influences of the action capabilities of the body on the perception of sizes and distances. Generally, as one's action capabilities increase, the perception of the relevant distance (over which the action is to be performed) decreases and vice versa. As a consequence, it has been proposed that the body's action capabilities act as a perceptual ruler, which is used to measure perceived sizes and distances. In this set of studies, we investigated this hypothesis by assessing the influence of arm's reach on the perception of distance. By providing participant with a self-representing avatar seen in a first-person perspective in virtual reality, we were able to introduce novel and completely unfamiliar alterations in the virtual arm's reach to evaluate their impact on perceived distance. Using both action-based and visual matching measures, we found that virtual arm's reach influenced perceived distance in virtual environments. Due to the participants' inexperience with the reach alterations, we also were able to assess the amount of experience with the new arm's reach required to influence perceived distance. We found that minimal experience reaching with the virtual arm can influence perceived distance. However, some reaching experience is required. Merely having a long or short virtual arm, even one that is synchronized to one's movements, is not enough to influence distance perception if one has no experience reaching.

Action possibility judgments of people with varying motor abilities due to spinal cord injury

Predictions about one's own action capabilities as well as the action capabilities of others are thought to be based on a simulation process involving linked perceptual and motor networks. Given the central role of motor experience in the formation of these networks, one's present motor capabilities are thought to be the basis of their perceptual judgments about actions. However, it remains unknown whether the ability to form these action possibility judgments is affected by performance related changes in the motor system. To determine if judgments of action capabilities are affected by long-term changes in one's own motor capabilities, participants with different degrees of upper-limb function due to their level (cervical vs. below cervical) of spinal cord injury (SCI) were tested on a perceptual-motor judgment task. Participants observed apparent motion videos of reciprocal aiming movements with varying levels of difficulty. For each movement, participants determined the shortest movement time (MT) at which they themselves and a young adult could perform the task while maintaining accuracy. Participants also performed the task. Analyses of MTs revealed that perceptual judgments for participant's own movement capabilities were consistent with their actual performance- people with cervical SCI had longer judged and actual MTs than people with below cervical SCI. However, there were no between-group differences in judged MTs for the young adult. Although it is unclear how the judgments were adjusted (altered simulation vs. threshold modification), the data reveal that people with different motor capabilities due to SCI are not completely biased by their present capabilities and can effectively adjust their judgments to estimate the actions of others.

Relating spatial perspective taking to the perception of other's affordances: providing a foundation for predicting the future behavior of others

Understanding what another agent can see relates functionally to the understanding of what they can do. We propose that spatial perspective taking and perceiving other's affordances, while two separate spatial processes, together share the common social function of predicting the behavior of others. Perceiving the action capabilities of others allows for a common understanding of how agents may act together. The ability to take another's perspective focuses an understanding of action goals so that more precise understanding of intentions may result. This review presents an analysis of these complementary abilities, both in terms of the frames of reference and the proposed sensorimotor mechanisms involved. Together, we argue for the importance of reconsidering the role of basic spatial processes to explain more complex behaviors.

Factors that affect action possibility judgments: the assumed abilities of other people

Judging what actions are possible and impossible to complete is a skill that is critical for planning and executing movements in both individual and joint actions contexts. The present experiments explored the ability to adapt action possibility judgments to the assumed characteristics of another person. Participants watched alternating pictures of a person's hand moving at different speeds between targets of different indexes of difficulty (according to Fitts' Law) and judged whether or not it was possible for individuals with different characteristics to maintain movement accuracy at the presented speed. Across four studies, the person in the pictures and the background information about the person were manipulated to determine how and under what conditions participants adapted their judgments. Results revealed that participants adjusted their possibility judgments to the assumed motor capabilities of the individual they were judging. However, these adjustments only occurred when participants were instructed to take the other person into consideration suggesting that the adaption process is a voluntary process. Further, it was observed that the slopes of the regression equations relating movement time and index of difficulty did not differ across conditions. All differences between conditions were in the y-intercept of the regression lines. This pattern of findings suggests that participants formed the action possibility judgments by first simulating their own performance, and then adjusted the "possibility" threshold by adding or subtracting a correction factor to determine what is and is not possible for the other person to perform.

Visuomotor control of human adaptive locomotion: understanding the anticipatory nature

To maintain balance during locomotion, the central nervous system (CNS) accommodates changes in the constraints of spatial environment (e.g., existence of an obstacle or changes in the surface properties). Locomotion while modifying the basic movement patterns in response to such constraints is referred to as adaptive locomotion. The most powerful means of ensuring balance during adaptive locomotion is to visually perceive the environmental properties at a distance and modify the movement patterns in an anticipatory manner to avoid perturbation altogether. For this reason, visuomotor control of adaptive locomotion is characterized, at least in part, by its anticipatory nature. The purpose of the present article is to review the relevant studies which revealed the anticipatory nature of the visuomotor control of adaptive locomotion. The anticipatory locomotor adjustments for stationary and changeable environment, as well as the spatio-temporal patterns of gaze behavior to support the anticipatory locomotor adjustments are described. Such description will clearly show that anticipatory locomotor adjustments are initiated when an object of interest (e.g., a goal or obstacle) still exists in far space. This review also show that, as a prerequisite of anticipatory locomotor adjustments, environmental properties are accurately perceived from a distance in relation to individual’s action capabilities.

The role of the motor system in conceptual processing: effects of object affordances beyond response interference

Numerous behavioral and neuro-imaging studies have demonstrated that the motor system is activated when people are presented with manipulable objects. However it remains a matter of debate whether these results should be interpreted as evidence that certain conceptual processes employ motor programs. In order to address this issue, we conducted two experiments which required participants to assess the functions of tool-like objects and respond verbally. The results demonstrate that action affordances may constrain performance in tasks which are not based on the stimulus-response compatibility paradigm. We argue that this finding supports the causal role of the motor system in conceptual processing and that it cannot be explained by spreading of activation and response interference.

Perceiving children's affordances: recalibrating estimation following single-trial observation of three different tasks

The adults' ability to perceive affordances for children was investigated in three different tasks. Forty adults made two estimations of the maximum reachability of a 5-year-old boy from a standing position, during a reach-and-jump task and in making a maximum step. A laser light point was displayed on a wall for the estimations of the standing reach and reach-and-jump tasks, or on the floor for the estimations of the step length task. The participants in the experimental group observed the child performing the task between a first and a second estimation, but the participants in the control group did not. In general, the observers were less accurate in estimating the child's maximum step length than in the other tasks. The observation of a single trial was enough to adjust perceivers' estimations, reducing error magnitude to about 50% of the initial error, but only in tasks with a poor first estimation. An absolute error of 5 cm persisted after one-trial observation. The magnitude of the adjustment in the estimation of affordances for others is task-dependent, and is more pronounced in tasks that imply greater action scaling than in tasks that require direct body scaling.

A perceptual-motor deficit predicts social and communicative impairments in individuals with autism spectrum disorders

Individuals with autism spectrum disorders (ASDs) have known impairments in social and motor skills. Identifying putative underlying mechanisms of these impairments could lead to improved understanding of the etiology of core social/communicative deficits in ASDs, and identification of novel intervention targets. The ability to perceptually integrate one's physical capacities with one's environment (affordance perception) may be such a mechanism. This ability has been theorized to be impaired in ASDs, but this question has never been directly tested. Crucially, affordance perception has shown to be amenable to learning; thus, if it is implicated in deficits in ASDs, it may be a valuable unexplored intervention target. The present study compared affordance perception in adolescents and adults with ASDs to typically developing (TD) controls. Two groups of individuals (adolescents and adults) with ASDs and age-matched TD controls completed well-established action capability estimation tasks (reachability, graspability, and aperture passability). Their caregivers completed a measure of their lifetime social/communicative deficits. Compared with controls, individuals with ASDs showed unprecedented gross impairments in relating information about their bodies' action capabilities to visual information specifying the environment. The magnitude of these deficits strongly predicted the magnitude of social/communicative impairments in individuals with ASDs. Thus, social/communicative impairments in ASDs may derive, at least in part, from deficits in basic perceptual-motor processes (e.g. action capability estimation). Such deficits may impair the ability to maintain and calibrate the relationship between oneself and one's social and physical environments, and present fruitful, novel, and unexplored target for intervention.

Factors that affect action possibility judgements: recent experience with the action and the current body state

It has been suggested that action possibility judgements are formed through a covert simulation of the to-be-executed action. We sought to determine whether the motor system (via a common coding mechanism) influences this simulation, by investigating whether action possibility judgements are influenced by experience with the movement task (Experiments 1 and 2) and current body states (Experiment 3). The judgement task in each experiment involved judging whether it was possible for a person's hand to accurately move between two targets at presented speeds. In Experiment 1, participants completed the action judgements before and after executing the movement they were required to judge. Results were that judged movement times after execution were closer to the actual execution time than those prior to execution. The results of Experiment 2 suggest that the effects of execution on judgements were not due to motor activation or perceptual task experience-alternative explanations of the execution-mediated judgement effects. Experiment 3 examined how judged movement times were influenced by participants wearing weights. Results revealed that wearing weights increased judged movement times. These results suggest that the simulation underlying the judgement process is connected to the motor system, and that simulations are dynamically generated, taking into account recent experience and current body state.

Expecting to lift a box together makes the load look lighter

The action abilities of an individual observer modulate his or her perception of spatial properties of the environment and of objects. The present study investigated how joint action abilities shape perception. Four experiments examined how the intention to lift an object with another individual affects perceived weight. In Experiments 1, 2a, and 2b, participants judged the perceived weight of boxes while expecting to lift them either alone or with a co-actor. In Experiment 3, the co-actor was healthy or injured. Participants intending to lift a box with a co-actor perceived the box as lighter than participants intending to lift the same box alone, provided that the co-actor appeared healthy and therefore capable of helping. These findings suggest that anticipated effort modulates the perception of object properties in the context of joint action. We discuss implications for the role of action prediction and action simulation processes in social interaction.

Human-Robot Interaction

The widespread adoption of personal service robots will likely depend on how well they interact with users. This chapter was motivated by a desire to facilitate the design of usable personal service robots. Toward that end, this chapter reviews the literature concerning people interacting with personal service robots. First, ongoing research related to the design of personal service robots is discussed. This material is organized around generic activities that would take place when a user initiates interaction with a future personal service robot, for example, understanding the robot’s affordances or its cognitive capabilities, as well as when a personal service robot initiates interaction with a user, for example, understanding the user’s intent or engaging and communicating with the user. Second, research areas that deserve more attention from the human-robot interaction community are discussed, for example, understanding when people do and do not treat robots as if they were people. Throughout the chapter, recommendations for the design of future personal service robots are offered along with recommendations for future research.

Egocentric or allocentric frameworks for the evaluation of other people's reachability

The adoption of egocentric and allocentric frameworks in the perception of other people's reachability was investigated. In study 1, 24 adults (12 experienced and 12 inexperienced dealing with children) judged vertical reachability for themselves and for two children. In study 2, 37 parents judged vertical reachability for themselves and their children. Absolute errors (|estimate-actual reachability|), absolute percent errors (|1-judgement/actual reachability|×100), and error tendency (underestimations, right judgments, or overestimations) were calculated. Adults were quite accurate in perceiving their own reachability (absolute percent errors ranging from 2.20% in study 1 to 3.12% in study 2) and clearly less precise when estimating children's reachability. Results indicated a tendency for adults to overestimate reachability of the younger child (study 1) and a tendency for parents to overestimate their children's reachability (study 2). No correlation between judgement errors for the self and for the children in any of the studies was observed. Results support the existence of an allocentric and not an egocentric framework when evaluating other people's affordances.

Perceiving affordances for joint actions

Two individuals acting together to achieve a shared goal often have an emergent set of afforded behavioral possibilities that may not easily reduce to either acting alone. In a series of experiments we examined the critical boundaries for transitions in behavior for individuals walking through an aperture alone or alongside another actor as a dyad. Results from experiment 1 indicated that an intrinsically scaled critical boundary for behavioral transitions was different in individuals than in dyads performing a similar task. Experiment 2 demonstrated that observers are perceptually sensitive to the difference in action parameters for the dyad, while still maintaining perceptual sensitivity about the boundaries of action relative to individuals. In experiment 3, we determined that observers' perception of critical action boundaries for individuals and dyads has a similar informational basis (eye-height scaling). In experiment 4, we demonstrated that observers were able to perceive critical action boundaries for other dyads independently of membership. Together, these results suggest that individuals are sensitive to the affordances related to a joint action, and that this process may not entirely reduce to the perception of the affordances for each individual.

Duck! Scaling the height of a horizontal barrier to body height

Recent research shows that the body is used to scale environmental extents. We question whether the body is used to scale heights as measured by real actions (Experiments 1 and 2) or by judgments about action and extent made from a single viewpoint (Experiments 3 and 4). First, participants walked under barriers naturally, when wearing shoes, or when wearing a helmet. Participants required a larger margin of safety (they ducked at shorter heights) when they were made taller. In follow-up experiments, participants visually matched barrier heights and judged whether they could walk under them when wearing shoes or a helmet. Only the helmet decreased visually matched estimates; action judgments were no different when participants' eye height increased. The final experiment suggested that the change in matched estimates may have been due to lack of experience wearing the helmet. Overall, the results suggest that perceived height is scaled to the body and that when body height is altered, experience may moderate the rescaling of height.

Adults' perception of children's height and reaching capability

This study investigated the influence of some characteristics of the task, the model, and the observer, in the estimation errors of adults while judging children's affordances. One hundred and eighteen adults, divided in 4 height groups, estimated height and vertical reaching capability of 3 girls (3.55-, 4.74- and 7.06-years old), in the presence and in the absence of the model. Constant errors (CE) (estimation-real value), absolute percent errors (APE) (/1--estimation/real value/ x 100), and error tendency (underestimations, right judgments, or overestimations) were calculated. A model and a condition effect were verified on APE. APE for the younger model were greater than for the other models (p<0.001), and APE in the absence of the model were greater than in her presence (p<0.05). Generally, adults underestimated height (51.8% of underestimations vs. 32.3% of overestimations) and overestimated reachability (51.3% of overestimations vs. 37.7% of underestimations). The overestimation of reachability was more notorious for the younger model, which might reflect adults' difficulty to consider the specificity of younger children's body proportions. Actually, the overestimation bias may suggest that adults perceive young children as on the basis of adult's geometrical proportions.