Bimanual integration of position and curvature in haptic perception

Salient Properties in Bimanual Haptic Volume Perception: Influence of Object Shape, Finger Pair, and Schizotypal Personality Traits

Bimanual haptic volume perception refers to somatosensory access to volume information through both hands, and the characteristics that influence this perception remain unclear. This article investigated the influence of target object shapes and finger pairs on bimanual haptic perception; in addition, associations of bimanual haptic impairment and schizotypal features in nonpsychotic individuals were investigated. Twenty blindfolded participants bimanually discriminated volume variations in regular solid objects under different shape (tetrahedron, cube, or sphere) and finger pair (high- or low-sensitivity pairs) conditions using a newly developed bimanual haptic volume presentation device. Discrimination thresholds were then associated with schizotypal traits using the Chinese version of the Schizotypal Personality Questionnaire. Target object shape and finger pairs significantly influenced bimanual haptic volume perception. Volume discrimination thresholds were significantly higher with the tetrahedron stimuli than the cubic or spherical stimuli in high-sensitivity pair conditions, but no significant differences among shapes were found in low-sensitivity pair conditions. Moreover, volume discrimination thresholds with high-sensitivity pairs were correlated with the paranoid score of the schizotypal personality questionnaire. The findings provide initial evidence toward understanding the nature of bimanual haptic volume perception, including the properties of objects, individuals, and object-individual interfaces.

Non-Colocated Kinesthetic Display Limits Compliance Discrimination in the Absence of Terminal Force Cues

An important goal of haptic display is to make available the action/reaction relationships that define interactions between the body and the physical world. While in physical world interactions reaction cues invariably impinge on the same part of the body involved in action (reaction and action are colocated), a haptic interface is quite capable of rendering feedback to a separate body part than that used for producing exploratory actions (non-colocated action and reaction). This most commonly occurs with the use of vibrotactile display, in which a cutaneous cue has been substituted for a kinesthetic cue (a kind of sensory substitution). In this paper, we investigate whether non-colocated force and displacement cues degrade the perception of compliance. Using a custom non-colocated kinesthetic display in which one hand controls displacement and the other senses force, we ask participants to discriminate between two virtual springs with matched terminal force and adjustable non-linearity. An additional condition includes one hand controlling displacement while the other senses force encoded in a vibrotactile cue. Results show that when the terminal force cue is unavailable, and even when sensory substitution is not involved, non-colocated kinesthetic displays degrade compliance discrimination relative to colocated kinesthetic displays. Compliance discrimination is also degraded with vibrotactile display of force. These findings suggest that non-colocated kinesthetic displays and, likewise, cutaneous sensory substitution displays should be avoided when discrimination of compliance is necessary for task success.

Direct coupling of haptic signals between hands

Although motor actions can profoundly affect the perceptual interpretation of sensory inputs, it is not known whether the combination of sensory and movement signals occurs only for sensory surfaces undergoing movement or whether it is a more general phenomenon. In the haptic modality, the independent movement of multiple sensory surfaces poses a challenge to the nervous system when combining the tactile and kinesthetic signals into a coherent percept. When exploring a stationary object, the tactile and kinesthetic signals come from the same hand. Here we probe the internal structure of haptic combination by directing the two signal streams to separate hands: one hand moves but receives no tactile stimulation, while the other hand feels the consequences of the first hand's movement but remains still. We find that both discrete and continuous tactile and kinesthetic signals are combined as if they came from the same hand. This combination proceeds by direct coupling or transfer of the kinesthetic signal from the moving to the feeling hand, rather than assuming the displacement of a mediating object. The combination of signals is due to perception rather than inference, because a small temporal offset between the signals significantly degrades performance. These results suggest that the brain simplifies the complex coordinate transformation task of remapping sensory inputs to take into account the movements of multiple body parts in haptic perception, and they show that the effects of action are not limited to moving sensors.

A survey on bimanual haptic interaction

When interacting with virtual objects through haptic devices, most of the time only one hand is involved. However, the increase of computational power, along with the decrease of device costs, allow more and more the use of dual haptic devices. The field which encompasses all studies of the haptic interaction with either remote or virtual environments using both hands of the same person is referred to as bimanual haptics. It differs from the common unimanual haptic field notably due to specificities of the human bimanual haptic system, e.g., the dominance of the hands, their differences in perception and their interactions at a cognitive level. These specificities call for adapted solutions in terms of hardware and software when applying the use of two hands to computer haptics. This paper reviews the state of the art on bimanual haptics, encompassing the human factors in bimanual haptic interaction, the currently available bimanual haptic devices, the software solutions for two-handed haptic interaction, and the existing interaction techniques.

Bimanual and unimanual length perception

From previous studies, it is unclear how bimanual length discrimination differs from unimanual length discrimination. To investigate the difference, we designed an experiment with four conditions. In the first two conditions, unimanual and bimanual discrimination thresholds are determined. In the third and fourth conditions, length is explored with the two index fingers like in the bimanual condition, but the reference is either internal, by clasping the hands together, or external, by grasping handles connected to the table. We find that thresholds for the unimanual condition (7.0%) and the clasping condition (9.2%) are both lower than for the bimanual condition (16%) and the grasping handles condition (15%). We conclude that when discriminating length unimanually and bimanually while clasping the hands together, the internal reference within the hand can be used and that explains the lower discrimination thresholds.

Integration of length and curvature in haptic perception

We investigated if and how length and curvature information are integrated when an object is explored in one hand. Subjects were asked to explore four types of objects between thumb and index finger. Objects differed in either length, curvature, both length and curvature correlated as in a circle, or anti-correlated. We found that when both length and curvature are present, performance is significantly better than when only one of the two cues is available. Therefore, we conclude that there is integration of length and curvature. Moreover, if the two cues are correlated in a circular cross-section instead of in an anti-correlated way, performance is better than predicted by a combination of two independent cues. We conclude that integration of curvature and length is highly efficient when the cues in the object are combined as in a circle, which is the most common combination of curvature and length in daily life.