The effect of visual and tactile information in motor preparation of climbing

In rock climbing, an appropriate motor preparation to a given climbing hold(s) is crucial for a fluent climbing. We investigated the influence of visual-tactile information in motor preparation of climbing, particularly the effect of the number of the holds and the tactile input of an actual hold was examined. Reaction times (RTs) under the priming paradigm were compared for climbers and non-climbers. Participants were asked to respond to a visual target (left or right arrow) after the presentation of a picture of a single climbing hold (Single-Prime condition: SP) or two holds (Double-Prime condition: DP). Before commencing each trial block, the participants were also asked to touch or watch an actual hold (touch /no-touch condition). The response based on the congruity between the orientation of the hold and that of the arrow was categorised as either congruent or incongruent. An ANOVA performed on the RTs showed the congruency effect, but this was observed only in the non-climbers. An additional analysis revealed a marginally significant climbing experience-related interaction. In the high-experienced climbers, the RTs in the touch condition were slower than those in the no-touch condition but this was only in the SP condition. In the no-touch condition, the RTs of DP were slower than those of SP. These results therefore suggest that the motor preparation is mediated by visual and tactile inputs of a given hold. The time needed for motor preparation, particularly in highly experienced climbers, may be modulated by the representational complexity of climbing movements through tactile information.Highlight The number of the holds visually presented affected the motor preparation.The tactile input of the climbing hold modulated the motor preparation only in the highly experienced climbers.Our findings imply that climbing-specific context (i.e. combination of the given holds) and experience (i.e. action competency) are involved in the motor preparation of climbing.

Adaptive Grasping of Moving Objects through Tactile Sensing

A robot’s ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object in motion. It was hypothesised that combining tactile sensor data with a reactive grasping strategy could improve its robustness to prediction errors, leading to a better, more adaptive performance. Using a two-finger gripper, we evaluated the performance of two algorithms to grasp a ball rolling on a horizontal plane at a range of speeds and gripper contact points. The first approach involved an adaptive grasping strategy initiated by tactile sensors in the fingers. The second strategy initiated the grasp based on a prediction of the position of the object relative to the gripper, and provided a proxy to a vision-based object tracking system. It was found that the integration of tactile sensor feedback resulted in a higher observed grasp robustness, especially when the gripper–ball contact point was displaced from the centre of the gripper. These findings demonstrate the performance gains that can be attained by incorporating near-field sensor data into the grasp strategy and motivate further research on how this strategy might be expanded for use in different manipulator designs and in more complex grasp scenarios.