Influence of Back Length on Vibrotactile Acuity in Vertical Direction

In this study, we were interested in the question whether vibrotactile thresholds on the back, in terms of the Just Noticeable Difference (JND), scale with back length. Although there exists only indirect physiological evidence, it could be assumed that the density of mechanoreceptors is lower if back size is larger. As a consequence, the JND would increase with back length. We measured psychophysical curves for 40 male participants with back lengths in the range of 36 to 55 cm. Nine equally spaced vibration motors were placed in vertical direction on their back, 2 cm left of the spine. For each stimulus pair, participants had to decide whether the second vibration was above or below the first vibration. It was found that the slope of the fit of the JND as a function of back length was not significantly different from zero, so contrary to our expectation, we did not find an influence of back length on JND. This means that when customizing a wearable haptic device for the back, measuring back length is not the way to go.

Hand-Held Haptic Navigation Devices for Actual Walking

In this survey, we give an overview of hand-held haptic navigation devices specifically designed for and tested with pedestrians. We distinguish devices for indoor use and for outdoor use as the implementation is usually quite different. Outdoor devices make use of Global Positioning Systems (GPS) tracking built-in in smartphones; indoor devices use a variety of sensors, and tracking and localization systems and these are usually restricted to a small part of a building. Overall, the high success rates reported in the studies show that vibrotactile stimulation via a hand-held user interface is suitable for navigation instructions, as in all experiments (almost) all participants reached their goal. An issue for several of the indoor devices is that walking speeds were (much) lower than normal walking speeds and path efficiency was relatively low. However, these issues might be overcome with some training as in most studies there was hardly any practice time. Several of the outdoor devices seem quite close to taking the last step before commercial use. In the Discussion, we evaluate the suitability of the devices for persons with visual and/or hearing impairments. Especially devices that provide very specific instructions, such as, 'go straight' or 'go right,' seem valuable for this population.

The Oblique Effect in the Perception of the Direction Between Two Points of Vibration on the Back

Vibrations on the back of a person can convey information about direction through sequentially switching on two vibration motors. For perception of direction the oblique effect can occur, meaning that perception of cardinal directions is more precise than perception of oblique directions. We investigated the role of the positioning of the vibrations with respect to the spine. In the first condition all vibration motors were placed in a circle around the spine ('Circle' condition) and direction was conveyed by switching on vibration motors on opposite sides of the circle. In the second condition the vibrations were placed in two semi-circles of which the centers were on the left and right sides of the back ('Semi-circle' condition). We found that participants showed larger deviations as well as a larger spread for oblique directions than for cardinal directions in both conditions. This indicates that the oblique effect occurred. Therefore, the oblique effect can occur irregardless of the positioning of the vibration motors with respect to the spine. Both deviations and spread were larger in the 'Semi-circle' condition than in the 'Circle' condition suggesting an advantage for centering motors around the spine, although this might have been influenced by the distance between vibrations.

Hands-Free Devices for Displaying Speech and Language in the Tactile Modality - Methods and Approaches

Communication is an essential part of human life. In this article, we give an overview of hands-free tactual devices that have been developed and tested for conveying speech or language. We opted for "hands-free" because especially in the case of individuals with impaired vision, in many situations their hands will be occupied with other essential tasks. We start this survey with presenting the various word building blocks that have been tested. These blocks vary from units based on the actual speech signal, via patterns representing phonemes, to letters, or letters coded via Morse or Braille-like patterns. In the second part of this article, studies that use these building blocks to create words are discussed. General findings are that successful devices do not necessarily depend on underlying speech characteriscs, dynamic patterns give better results than static patterns, and more vibrators do not generally give better results. Moreover, some of the most successful devices required only limited training time. Most of the recent devices are still in a quite early state of development and are tested only with a limited number of patterns. However, many of these recent devices give promising results and are worthwhile to further investigate and develop.

Representing Numerosity Through Vibration Patterns

It can be useful to display information about numerosity haptically. For instance, to display the time of day or distances when visual or auditory feedback is not possible or desirable. Here, we investigated the possibility of displaying numerosity information by means of a sequence of vibration pulses. From previous studies on numerosity perception in vision, haptics and audition it is known that numerosity judgment can be facilitated by grouping. Therefore, we investigated whether perception of the number of vibration pulses in a sequence can be facilitated by temporally grouping the pulses. We found that indeed temporal grouping can lead to considerably smaller errors and lower error rates indicating that this facilitated the task, but only when participants knew in advance whether the pulses would be temporally grouped. When grouped and ungrouped series of pulses were presented randomly interleaved, there was no difference in performance. This means that temporally grouping vibration sequences can allow the sequence to be displayed at a faster rate while it remains possible to perceive the number of vibration pulses accurately if the users is aware of the temporal grouping.

The influence of visual and haptic material information on early grasping force

In this paper, we assess the importance of visual and haptic information about materials for scaling the grasping force when picking up an object. We asked 12 participants to pick up and lift objects with six different textures, either blindfolded or with visual information present. We measured the grip force and estimated the load force from the object's weight and vertical acceleration. The coefficient of friction of the materials was measured separately. Already at an early phase in the grasp (before lift-off), the grip force correlated highly with the textures' static coefficient of friction. However, no strong influence on the presence of visual information was found. We conclude that the main mechanism for modulation of grip force in the early phase of grasping is the real-time sensation of the texture's friction.

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.

A Pneumatic Tactile Ring for Instantaneous Sensory Feedback in Laparoscopic Tumor Localization

We aim to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery. In this study, we developed and evaluated a pneumatic tactile ring, which is a clinically applicable tactile device to provide instantaneous feedback from a tactile sensor directly manipulated by a surgeon. It was designed to be worn on the finger of the manipulating hand and to present pressure to the finger pad. It is lightweight, cost-effective, disposable, and sterilizable. We also developed a compact pneumatic drive unit to control the pressure and investigated its fundamental performance. The bandwidth of the pressure control was at least 1.3 Hz with a controllable range of up to 79.7 kPa. Moreover, a psychophysical experiment was performed to obtain the Weber ratio of the pressure and evaluate the effectiveness of the instantaneous tactile feedback of the sensor output through the tactile ring. The Weber ratio was 0.40 at the reference pressure of 22.7 kPa. The provided tactile feedback significantly reduced the absolute localization error and increased participants' confidence in their answers. It was shown that the tactile feedback through the ring is effective in laparoscopic tumor localization.

Parallel Behind Your Head

A miniature hair clip set-up presented to the first author gave inspiration for this study. After a number of studies investigating what is haptically perceived as parallel on horizontal, frontoparallel or midsagittal planes, the present study focusses on what is felt as parallel behind your head. The results show convincingly that also in this condition physically parallel is not the same as haptically parallel. Moreover, the deviations are large, idiosyncratic and in a direction predicted by assuming a biasing influence of an egocentric reference frame.

Minute hands of clocks indicating the same time are not perceived as haptically parallel

Many studies have already shown that a large idiosyncratic orientation difference is needed to perceive two bars that are far apart as haptically parallel. There exist also strong indications that if such bars are imagined to be minute hands of clocks, errors made in clock time estimates and clock time settings are much smaller. The current study investigated this seemingly discrepancy. Participants partook in three experiments: parallel setting, clock time estimate and clock time setting, in this order. As the individual parallel settings were used in the subsequent clock time estimate experiment, and the estimated clock times in the clock time setting experiment, the deviations could be compared directly. In all three experiments, the deviations were systematic and idiosyncratic, and consistent with a biasing influence of an egocentric reference frame. However, the deviations in the two clock time experiments were indeed much smaller than in the parallel setting experiment. Task instruction and strengthened focus on an allocentric reference frame are the most likely explanations. These findings provide fundamental insights in the processing of spatial information. Taking these findings into account when designing haptic devices may make these more intuitive.

Haptic shape discrimination and interhemispheric communication

In three experiments participants haptically discriminated object shape using unimanual (single hand explored two objects) and bimanual exploration (both hands were used, but each hand, left or right, explored a separate object). Such haptic exploration (one versus two hands) requires somatosensory processing in either only one or both cerebral hemispheres; previous studies related to the perception of shape/curvature found superior performance for unimanual exploration, indicating that shape comparison is more effective when only one hemisphere is utilized. The current results, obtained for naturally shaped solid objects (bell peppers, Capsicum annuum) and simple cylindrical surfaces demonstrate otherwise: bimanual haptic exploration can be as effective as unimanual exploration, showing that there is no necessary reduction in ability when haptic shape comparison requires interhemispheric communication. We found that while successive bimanual exploration produced high shape discriminability, the participants’ bimanual performance deteriorated for simultaneous shape comparisons. This outcome suggests that either interhemispheric interference or the need to attend to multiple objects simultaneously reduces shape discrimination ability. The current results also reveal a significant effect of age: older adults’ shape discrimination abilities are moderately reduced relative to younger adults, regardless of how objects are manipulated (left hand only, right hand only, or bimanual exploration).

The role of connectedness in haptic object perception

We can efficiently detect whether there is a rough object among a set of smooth objects using our sense of touch. We can also quickly determine the number of rough objects in our hand. In this study, we investigated whether the perceptual processing of rough and smooth objects is influenced if these objects are connected. In Experiment 1, participants were asked to identify whether there were exactly two rough target spheres among smooth distractor spheres, while we recorded their response times. The spheres were connected to form pairs: rough spheres were paired together and smooth spheres were paired together ('within pairs arrangement'), or a rough and a smooth sphere were connected ('between pairs arrangement'). Participants responded faster when the spheres in a pair were identical. In Experiment 2, we found that the advantage for within pairs arrangements was not driven by feature saliency. Overall our results show that haptic information is processed faster when targets were connected together compared to when targets were connected to distractors.

Integrating force and position: testing model predictions

In this study, we investigated the integration of force and position information in a task in which participants were asked to estimate the center of a weak force field. Two hypotheses, describing how participants solved this task, were tested: (1) by only using the position(s) where the force reaches the detection threshold, and (2) by extrapolating the force field based on perceived stiffness. Both hypotheses were also described formally, assuming a psychophysical function obeying a power law with an exponent smaller than one. The hypotheses were tested in two psychophysical experiments, in which 12 participants took part. In Experiment 1, an asymmetric force field was used and the presence of visual feedback about hand position was varied. In Experiment 2, a unilateral force field was used. For both experiments, hypothesis 1 predicts biases between (Experiment 1) or at (Experiment 2) the position(s) of the force detection threshold, while hypothesis 2 predicts smaller biases. The measured data show significant biases in both experiments that coincide with the biases predicted by using force detection thresholds from the literature. The average measured responses and their variabilities also fitted very well with the mathematical model of hypothesis 1. These results underline the validity of hypothesis 1. So, participants did not use a percept of the stiffness of the force field, but based their estimation of the center of the force field on the position(s) where the force reached the detection threshold. This shows that force and position information were not integrated in this task.

Correcting for Visuo-Haptic Biases in 3D Haptic Guidance

Visuo-haptic biases are observed when bringing your unseen hand to a visual target. The biases are different between, but consistent within participants. We investigated the usefulness of adjusting haptic guidance to these user-specific biases in aligning haptic and visual perception. By adjusting haptic guidance according to the biases, we aimed to reduce the conflict between the modalities. We first measured the biases using an adaptive procedure. Next, we measured performance in a pointing task using three conditions: 1) visual images that were adjusted to user-specific biases, without haptic guidance, 2) veridical visual images combined with haptic guidance, and 3) shifted visual images combined with haptic guidance. Adding haptic guidance increased precision. Combining haptic guidance with user-specific visual information yielded the highest accuracy and the lowest level of conflict with the guidance at the end point. These results show the potential of correcting for user-specific perceptual biases when designing haptic guidance.

The Effect of Global and Local Damping on the Perception of Hardness

In tele-operation systems, damping is often injected to guarantee system stability during contact with hard objects. In this study, we used psychophysical experiments to assess the effect of adding damping on the user's perception of object hardness. In Experiments 1 and 2, combinations of stiffness and damping were tested to assess their effect on perceived hardness. In both experiments, two tasks were used: an in-contact task, starting at the object's surface, and a contact-transition task, including a free-air movement. In Experiment 3, the difference between inserting damping globally (equally throughout the workspace) and locally (inside the object only) was tested. In all experiments, the correlation between the participant's perceptual decision and force and position data was also investigated. Experiments 1 and 2 show that when injecting damping globally, perceived hardness slightly increased for an in-contact task, while it decreased considerably for a contact-transition task. Experiment 3 shows that this effect was mainly due to inserting damping globally, since there was a large perceptual difference between inserting damping globally and locally. The force and position parameters suggest that participants used the same force profile during the two movements of one trial and assessed the system's reaction to this force to perceive hardness.

Angle Discrimination in Raised-Line Drawings

We investigated the angular resolution subserving the haptic perception of raised-line drawings by measuring how accurately observers could discriminate between two angle sizes under various conditions. We found that, for acute angles, discrimination performance is highly dependent on exploration strategy: mean thresholds of 2.9° and 6.0° were found for two different exploration strategies. For one of the strategies we found that discriminability is not dependent on the bisector orientation of the angle. Furthermore, we found that thresholds almost double when the angular extent is increased from 20° to 135°. We also found that local apex information has a significant influence on discrimination for acute as well as obtuse angles. In the last experiment we investigated the influence of depiction mode but did not find any effect. Overall, the results tell us that the acuity with which angles in raised-line drawings are perceived is determined by the exploration strategy, local apex information, and global angular extent.

Effects of Hand Orientation and Delay on the Verbal Judgment of Haptically Perceived Orientation

We examined the haptic perception of orientations of a single bar throughout the horizontal plane using a verbal response: participants were to assign a number of minutes to the orientation of a bar defined with respect to the stimulus table. Performance was found to be systematically biased. Deviations were consistent with, yet much smaller than, those resulting from haptic motor matching tasks. The size and direction of the deviations were found to correlate with hand orientation, and not to depend on spatial location per se, suggesting a role for hand-centred reference frames in biasing performance. Delaying the response by 10 s led to a small improvement only of right-hand perceptions, indicating different hemispheric involvement in processes involved in retaining and/or recoding of haptic orientation information. Also the haptic oblique effect was found with the current verbal response. Importantly, it was affected neither by hand orientation nor by delay, suggesting that the oblique effect is independent of the aforementioned deviations in orientation perception.

Haptic Detection of Sine-Wave Gratings

We studied human haptic perception of sine-wave gratings. In the first experiment we measured the dependence of amplitude detection thresholds on the number of cycles and on the wavelength of the gratings. In haptic perception of sine-wave gratings, the results are in agreement with neural summation. The rate at which detection thresholds decrease with increasing number of cycles is much higher than can be accounted for by probability summation alone. Further, neural summation mechanisms describe the detection thresholds accurately over the whole spatial range probed in the experiment, that is wavelengths from 14 mm up to 225 mm. Earlier, we found a power-law dependence of thresholds on the spatial width of Gaussian profiles (Louw et al, 2000 Experimental Brain Research132 369–374). The current results extend these findings; the power-law dependence holds not only for Gaussian profiles, but also for a broad range of sine-wave gratings with the number of cycles varying between 1 and 8. Haptic perception involves tactual scanning combined with an active, dynamic exploration of the environment. We measured characteristics of the velocity and force with which stimuli were scanned while performing a psychophysical task. One particularly surprising finding was that, without being instructed, participants maintained an almost constant scanning velocity during each 45-min session. A constant velocity in successive trials of the experiment might facilitate or even be necessary for discrimination. Further, a large systematic dependence of velocity on scanning length was found. An eightfold increase in scanning length resulted in about a fourfold increase in scanning velocity. A second experiment was conducted to study the influence of scanning velocity on psychophysical detection thresholds. This was done by systematically imposing specific scanning velocities to the participants while the thresholds were measured. The main result of the second experiment was that psychophysical detection thresholds are constant over a relatively broad range of scanning velocities.

Pointing out of the Picture

The eyes of portrayed people are often noticed to ‘follow you’ when you move with respect to a flat painting or photograph. We investigated this well-known effect through extensive measurements of pictorial relief and apparent orientation of the picture surface for a number of viewing conditions, including frontal and oblique views. We conclude that cases of both oblique and frontal viewing are very similar in that perception simply follows what is indicated by the proximal stimulus, even though this may imply that the (perceived) physical and pictorial spaces segregate. The effect of foreshortening then causes an apparent narrowing of pictorial objects. We find no evidence for any ‘correction’ mechanisms that might be specifically active in oblique viewing conditions.

Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

The term 'synergy' - from the Greek synergia - means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project "The Hand Embodied" (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies.

Haptic exploratory behavior during object discrimination: a novel automatic annotation method

In order to acquire information concerning the geometry and material of handheld objects, people tend to execute stereotypical hand movement patterns called haptic Exploratory Procedures (EPs). Manual annotation of haptic exploration trials with these EPs is a laborious task that is affected by subjectivity, attentional lapses, and viewing angle limitations. In this paper we propose an automatic EP annotation method based on position and orientation data from motion tracking sensors placed on both hands and inside a stimulus. A set of kinematic variables is computed from these data and compared to sets of predefined criteria for each of four EPs. Whenever all criteria for a specific EP are met, it is assumed that that particular hand movement pattern was performed. This method is applied to data from an experiment where blindfolded participants haptically discriminated between objects differing in hardness, roughness, volume, and weight. In order to validate the method, its output is compared to manual annotation based on video recordings of the same trials. Although mean pairwise agreement is less between human-automatic pairs than between human-human pairs (55.7% vs 74.5%), the proposed method performs much better than random annotation (2.4%). Furthermore, each EP is linked to a specific object property for which it is optimal (e.g., Lateral Motion for roughness). We found that the percentage of trials where the expected EP was found does not differ between manual and automatic annotation. For now, this method cannot yet completely replace a manual annotation procedure. However, it could be used as a starting point that can be supplemented by manual annotation.

Target contact and exploration strategies in haptic search

In a haptic search task, one has to detect the presence of a target among distractors using the sense of touch. A salient target can be detected faster than a non-salient target. However, little is known about the exploration strategies that are used, especially in 3D search tasks where items are held in the hand. In this study, we investigated which parts of the hand were used to contact the target and which strategies were performed. Blindfolded participants performed search tasks in four conditions, where the targets differed in relevant property and saliency. The positions of the target and the hand were tracked during exploration. It was found that target saliency had a large effect on the use of the hand parts and the strategies. In the non-salient target conditions, the fingers, especially the thumb, contacted the target more often than in the salient target conditions. This could also be seen in the strategies, where the thumb was used to explore the items in a serial way by moving them in the hand or touching them individually. In the salient target conditions, more parallel strategies like grasping or shuffling of the items in the hand were used.

Haptic discrimination of distance

While quite some research has focussed on the accuracy of haptic perception of distance, information on the precision of haptic perception of distance is still scarce, particularly regarding distances perceived by making arm movements. In this study, eight conditions were measured to answer four main questions, which are: what is the influence of reference distance, movement axis, perceptual mode (active or passive) and stimulus type on the precision of this kind of distance perception? A discrimination experiment was performed with twelve participants. The participants were presented with two distances, using either a haptic device or a real stimulus. Participants compared the distances by moving their hand from a start to an end position. They were then asked to judge which of the distances was the longer, from which the discrimination threshold was determined for each participant and condition. The precision was influenced by reference distance. No effect of movement axis was found. The precision was higher for active than for passive movements and it was a bit lower for real stimuli than for rendered stimuli, but it was not affected by adding cutaneous information. Overall, the Weber fraction for the active perception of a distance of 25 or 35 cm was about 11% for all cardinal axes. The recorded position data suggest that participants, in order to be able to judge which distance was the longer, tried to produce similar speed profiles in both movements. This knowledge could be useful in the design of haptic devices.

Digit forces bias sensorimotor transformations underlying control of fingertip position

Humans are able to modulate digit forces as a function of position despite changes in digit placement that might occur from trial to trial or when changing grip type for object manipulation. Although this phenomenon is likely to rely on sensing the position of the digits relative to each other and the object, the underlying mechanisms remain unclear. To address this question, we asked subjects (n = 30) to match perceived vertical distance between the center of pressure (CoP) of the thumb and index finger pads (d_y) of the right hand (“reference” hand) using the same hand (“test” hand). The digits of reference hand were passively placed collinearly (d_y = 0 mm). Subjects were then asked to exert different combinations of normal and tangential digit forces (F_n and F_tan, respectively) using the reference hand and then match the memorized d_y using the test hand. The reference hand exerted F_tan of thumb and index finger in either same or opposite direction. We hypothesized that, when the tangential forces of the digits are produced in opposite directions, matching error (1) would be biased toward the directions of the tangential forces; and (2) would be greater when the remembered relative contact points are matched with negligible digit force production. For the test hand, digit forces were either negligible (0.5–1 N, 0 ± 0.25 N; Experiment 1) or the same as those exerted by the reference hand (Experiment 2).Matching error was biased towards the direction of digit tangential forces: thumb CoP was placed higher than the index finger CoP when thumb and index finger F_tan were directed upward and downward, respectively, and vice versa (p < 0.001). However, matching error was not dependent on whether the reference and test hand exerted similar or different forces. We propose that the expected sensory consequence of motor commands for tangential forces in opposite directions overrides estimation of fingertip position through haptic sensory feedback.

Parallel processing of shape and texture in haptic search

In a haptic search task, one has to determine the presence of a target among distractors. It has been shown that if the target differs from the distractors in two properties, shape and texture, performance is better than in both single-property conditions (Van Polanen, Bergmann Tiest, & Kappers, 2013). The search for a smooth sphere among rough cubical distractors was faster than both the searches for a rough sphere (shape information only) and for a smooth cube (texture information only). This effect was replicated in this study as a baseline. The main focus here was to further investigate the nature of this integration. It was shown that performance is better when the two properties are combined in a single target (smooth sphere), than when located in two separate targets (rough sphere and smooth cube) that are simultaneously present. A race model that assumes independent parallel processing of the two properties could explain the enhanced performance with two properties, but this could only take place effectively when the two properties were located in a single target.

Contact force and scanning velocity during active roughness perception

Haptic perception is bidirectionally related to exploratory movements, which means that exploration influences perception, but perception also influences exploration. We can optimize or change exploratory movements according to the perception and/or the task, consciously or unconsciously. This paper presents a psychophysical experiment on active roughness perception to investigate movement changes as the haptic task changes. Exerted normal force and scanning velocity are measured in different perceptual tasks (discrimination or identification) using rough and smooth stimuli. The results show that humans use a greater variation in contact force for the smooth stimuli than for the rough stimuli. Moreover, they use higher scanning velocities and shorter break times between stimuli in the discrimination task than in the identification task. Thus, in roughness perception humans spontaneously use different strategies that seem effective for the perceptual task and the stimuli. A control task, in which the participants just explore the stimuli without any perceptual objective, shows that humans use a smaller contact force and a lower scanning velocity for the rough stimuli than for the smooth stimuli. Possibly, these strategies are related to aversiveness while exploring stimuli.

Influence of shape on the haptic size aftereffect

Recently, we showed a strong haptic size aftereffect by means of a size bisection task: after adaptation to a large sphere, subsequently grasped smaller test spheres felt even smaller, and vice versa. In the current study, we questioned whether the strength of this aftereffect depends on shape. In four experimental conditions, we determined the aftereffect after adaptation to spheres and tetrahedra and subsequent testing also with spheres and tetrahedra. The results showed a clear influence of shape: the haptic aftereffect was much stronger if adaptation and test stimuli were identical in shape than if their shapes were different. Therefore, it would be more appropriate to term such aftereffects haptic shape-size aftereffects, as size alone could not be the determining factor. This influence of shape suggests that higher cortical areas are involved in this aftereffect and that it cannot be due to adaptation of peripheral receptors. An additional finding is that the geometric property or combination of properties participants use in the haptic size bisection task varies widely over participants, although participants themselves are quite consistent.

Identifying haptic exploratory procedures by analyzing hand dynamics and contact force

Haptic exploratory procedures (EPs) are prototypical hand movements that are linked to the acquisition of specific object properties. In studies of haptic perception, hand movements are often classified into these EPs. Here, we aim to investigate several EPs in a quantitative manner to understand how hand dynamics and contact forces differ between them. These dissimilarities are then used to construct an EP identification model capable of discriminating between EPs based on the index finger position and contact force. The extent to which the instructed EPs were distinct, repeatable, and similar across subjects was confirmed by showing that more than 95 percent of the analyzed trials were classified correctly. Finally, the method is employed to investigate haptic exploratory behavior during similarity judgments based on several object properties. It seems that discrimination based on material properties (hardness, roughness, and temperature) yields more consistent classification results compared to discrimination based on the acquisition of shape information.

Anisotropy in the haptic perception of force direction and magnitude

Although force-feedback devices are already being used, the human ability to perceive forces has not been documented thoroughly. The haptic perception of force direction and magnitude has mostly been studied in discrimination tasks in the direction of gravity. In our study, the influence of physical force direction on haptic perception of force magnitude and direction was studied in the horizontal plane. Subjects estimated the direction and magnitude of a force exerted on their stationary hand. A significant anisotropy in perception of force magnitude and direction was found. Force direction data showed significant subject-dependent distortions at various physical directions. Normalized force magnitude data showed a consistent elliptical pattern, with its minor axis pointing roughly from the subject's hand to his/her shoulder. This pattern could be related to arm stiffness or manipulability patterns, which are also ellipse-shaped. These ellipses have an orientation consistent with the distortion measured in our study. So, forces in the direction of highest stiffness and lowest manipulability are perceived as being smaller. It therefore seems that humans possess a "sense of effort" rather than a "sense of force," which may be more useful in everyday life. These results could be useful in the design of haptic devices.

Integration and disruption effects of shape and texture in haptic search

In a search task, where one has to search for the presence of a target among distractors, the target is sometimes easily found, whereas in other searches it is much harder to find. The performance in a search task is influenced by the identity of the target, the identity of the distractors and the differences between the two. In this study, these factors were manipulated by varying the target and distractors in shape (cube or sphere) and roughness (rough or smooth) in a haptic search task. Participants had to grasp a bundle of items and determine as fast as possible whether a predefined target was present or not. It was found that roughness and edges were relatively salient features and the search for the presence of these features was faster than for their absence. If the task was easy, the addition of these features could also disrupt performance, even if they were irrelevant for the search task. Another important finding was that the search for a target that differed in two properties from the distractors was faster than a task with only a single property difference, although this was only found if the two target properties were non-salient. This means that shape and texture can be effectively integrated. Finally, it was found that edges are more beneficial to a search task than disrupting, whereas for roughness this was the other way round.

Superior spatial touch: improved haptic orientation processing in deaf individuals

The present study investigated haptic spatial orientation processing in deaf signers, hearing sign language interpreters, and hearing controls. Blindfolded participants had to set two bars parallel in the horizontal plane, with either a 2-s or a 10-s delay between inspection of the reference bar and the setting of the test bar. The deaf group outperformed the other two groups which did not differ from each other. Together these results indicate that deaf individuals can better identify the allocentric spatial coordinates of haptically inspected orientations. These results are discussed in terms of the possible neurocognitive consequences of auditory deprivation.

Aging and curvature discrimination from static and dynamic touch

Two experiments evaluated the ability of 30 older and younger adults to discriminate the curvature of simple object surfaces from static and dynamic touch. The ages of the older adults ranged from 66 to 85 years, while those of the younger adults ranged from 20 to 29 years. For each participant in both experiments, the minimum curvature magnitude needed to reliably discriminate between convex and concave surfaces was determined. In Experiment 1, participants used static touch to make their judgments of curvature, while dynamic touch was used in Experiment 2. When static touch was used to discriminate curvature, a large effect of age occurred (the thresholds were 0.67 & 1.11/m for the younger and older participants, respectively). However, when participants used dynamic touch, there was no significant difference between the ability of younger and older participants to discriminate curvature (the thresholds were 0.58 & 0.59/m for the younger and older participants, respectively). The results of the current study demonstrate that while older adults can accurately discriminate surface curvature from dynamic touch, they possess significant impairments for static touch.

Short term memory and working memory in blind versus sighted children

There is evidence that blind people may strengthen their memory skills to compensate for absence of vision. However, which aspects of memory are involved is open to debate and a developmental perspective is generally lacking. In the present study, we compared the short term memory (STM) and working memory (WM) of 10-year-old blind children and sighted children. STM was measured using digit span forward, name learning, and word span tasks; WM was measured using listening span and digit span backward tasks. The blind children outperformed their sighted peers on both STM and WM tasks. The enhanced capacity of the blind children on digit span and other STM tasks confirms the results of earlier research; the significantly better performance of the blind children relative to their sighted peers on verbal WM tasks is a new interesting finding. Task characteristics, including the verbal nature of the WM tasks and strategies used to perform these tasks, are discussed.

Bimanual integration of position and curvature in haptic perception

For small stimuli, it has been shown that subjects are very accurate in distinguishing a cylinder with an elliptical cross section from one with a circular cross section. In such a task, both curvature and length are integrated effectively. Large cylinders are explored differently: either by one hand or by two hands sliding over the surface. However, the same cues are available. We investigated the integration of position and curvature in unimanual and bimanual explorations. In Experiment 1, curved surfaces were presented as part of a horizontal cylinder with a cross section that was either a horizontally or a vertically elongated ellipse. We found that discrimination thresholds for unimanual exploration were significantly larger than for bimanual exploration. In Experiment 2, we found that position discrimination thresholds were independent of the type of exploration (unimanual or bimanual) and surprisingly also independent of the reference length. In Experiment 3, we found that discrimination thresholds for the position of the midsagittal plane were on an average lower than the position discrimination thresholds found in Experiment 2. From these findings, we conclude that the lower thresholds in Experiment 1 for bimanual exploration compared to unimanual exploration are due to the integration of curvature, not position or uncertainty of the midsagittal plane in unimanual exploration.

Genotype and phenotype of 101 dutch patients with congenital stationary night blindness

OBJECTIVE

To investigate the relative frequency of the genetic causes of the Schubert-Bornschein type of congenital stationary night blindness (CSNB) and to determine the genotype-phenotype correlations in CSNB1 and CSNB2.

DESIGN

Clinic-based, longitudinal, multicenter study.

PARTICIPANTS

A total of 39 patients with CSNB1 from 29 families and 62 patients with CSNB2 from 43 families.

METHODS

Patients underwent full ophthalmologic and electrophysiologic examinations. On the basis of standard electroretinograms (ERGs), patients were diagnosed with CSNB1 or CSNB2. Molecular analysis was performed by direct Sanger sequencing of the entire coding regions in NYX, TRPM1, GRM6, and GPR179 in patients with CSNB1 and CACNA1F and CABP4 in patients with CSNB2.

MAIN OUTCOME MEASURES

Data included genetic cause of CSNB, refractive error, visual acuity, nystagmus, strabismus, night blindness, photophobia, color vision, dark adaptation (DA) curve, and standard ERGs.

RESULTS

A diagnosis of CSNB1 or CSNB2 was based on standard ERGs. The photopic ERG was the most specific criterion to distinguish between CSNB1 and CSNB2 because it showed a "square-wave" appearance in CSNB1 and a decreased b-wave in CSNB2. Mutations causing CSNB1 were found in NYX (20 patients, 13 families), TRPM1 (10 patients, 9 families), GRM6 (4 patients, 3 families), and GPR179 (2 patients, 1 family). Congenital stationary night blindness 2 was primarily caused by mutations in CACNA1F (55 patients, 37 families). Only 3 patients had causative mutations in CABP4 (2 families). Patients with CSNB1 mainly had rod-related problems, and patients with CSNB2 had rod- and cone-related problems. The visual acuity on average was better in CSNB1 (0.30 logarithm of the minimum angle of resolution [logMAR]) than in CSNB2 (0.52 logMAR). All patients with CSNB1 and only 54% of the patients with CSNB2 reported night blindness. The dark-adapted threshold was on average more elevated in CSNB1 (3.0 log) than in CSNB2 (1.8 log). The 3 patients with CABP4 had a relative low visual acuity, were hyperopic, had severe nonspecific color vision defects, and had only 1.0 log elevated DA threshold.

CONCLUSIONS

Congenital stationary night blindness 1, despite different causative mutations, shows 1 unique CSNB1 phenotype. Congenital stationary night blindness 2 caused by mutations in CABP4 merely shows cone-related problems and therefore appears to be distinct from CSNB2 caused by mutations in CACNA1F.

FINANCIAL DISCLOSURE(S)

The author(s) have no proprietary or commercial interest in any materials discussed in this article.

Haptic perception

Fueled by novel applications, interest in haptic perception is growing. This paper provides an overview of the state of the art of a number of important aspects of haptic perception. By means of touch we can not only perceive quite different material properties, such as roughness, compliance, friction, coldness and slipperiness, but we can also perceive spatial properties, such as shape, curvature, size and orientation. Moreover, the number of objects we have in our hand can be determined, either by counting or subitizing. All these aspects will be presented and discussed in this paper. Although our intuition tells us that touch provides us with veridical information about our environment, the existence of prominent haptic illusions will show otherwise. Knowledge about haptic perception is interesting from a fundamental viewpoint, but it also is of eminent importance in the technological development of haptic devices. At the end of this paper, a few recent applications will be presented. WIREs Cogn Sci 2013, 4:357-374. DOI: 10.1002/wcs.1238 CONFLICT OF INTEREST: The authors have declared no conflicts of interest for this article. For further resources related to this article, please visit the WIREs website.

Assessment of night vision problems in patients with congenital stationary night blindness

Congenital Stationary Night Blindness (CSNB) is a retinal disorder caused by a signal transmission defect between photoreceptors and bipolar cells. CSNB can be subdivided in CSNB2 (rod signal transmission reduced) and CSNB1 (rod signal transmission absent). The present study is the first in which night vision problems are assessed in CSNB patients in a systematic way, with the purpose of improving rehabilitation for these patients. We assessed the night vision problems of 13 CSNB2 patients and 9 CSNB1 patients by means of a questionnaire on low luminance situations. We furthermore investigated their dark adapted visual functions by the Goldmann Weekers dark adaptation curve, a dark adapted static visual field, and a two-dimensional version of the “Light Lab”. In the latter test, a digital image of a living room with objects was projected on a screen. While increasing the luminance of the image, we asked the patients to report on detection and recognition of objects. The questionnaire showed that the CSNB2 patients hardly experienced any night vision problems, while all CSNB1 patients experienced some problems although they generally did not describe them as severe. The three scotopic tests showed minimally to moderately decreased dark adapted visual functions in the CSNB2 patients, with differences between patients. In contrast, the dark adapted visual functions of the CSNB1 patients were more severely affected, but showed almost no differences between patients. The results from the “2D Light Lab” showed that all CSNB1 patients were blind at low intensities (equal to starlight), but quickly regained vision at higher intensities (full moonlight). Just above their dark adapted thresholds both CSNB1 and CSNB2 patients had normal visual fields. From the results we conclude that night vision problems in CSNB, in contrast to what the name suggests, are not conspicuous and generally not disabling.

Evaluation of robotically controlled advanced endoscopic instruments

BACKGROUND

Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate.

METHODS

In this article, we present a robotic system that allows the physician to control an instrument in an intuitive way, using a haptic device. Performance with the robotic and conventional control methods were compared in a human subjects experiment. Subjects used both methods to tap a series of targets. They performed four trials while looking at the endoscopic monitor, and two trials while looking at the instrument directly.

RESULTS

Subjects were significantly faster using the robotic method, 54 s vs 164 s. Their performance in the second trial was significantly improved with respect to the first trial.

CONCLUSIONS

This study provides evidence that the robotic control method can be implemented to improve the performance of physicians using advanced flexible endoscopes.

Haptic discrimination and matching of viscosity

In three experiments, viscosity perception of liquids using the sense of touch was studied. The first two were discrimination experiments in which Weber fractions were determined for a number of viscosities spanning the range of what is encountered in daily life, and for two ways of perceiving viscosity (stirring with a spatula or with the index finger). For high viscosities, Weber fractions were around 0.3, whereas they increased for lower viscosities. For low viscosities, discrimination performance was much worse with the finger than with the spatula. In the third experiment, subjects matched liquids perceived with these two methods, which resulted in biases of around 80. Control experiments and force measurements were performed to find an explanation for these results. It was concluded that the relationship between perceived and physical viscosity is steeper for stirring liquids with a spatula than stirring with the finger.

Haptic search for hard and soft spheres

In this study the saliency of hardness and softness were investigated in an active haptic search task. Two experiments were performed to explore these properties in different contexts. In Experiment 1, blindfolded participants had to grasp a bundle of spheres and determine the presence of a hard target among soft distractors or vice versa. If the difference in compliance between target and distractors was small, reaction times increased with the number of items for both features; a serial strategy was found to be used. When the difference in compliance was large, the reaction times were independent of the number of items, indicating a parallel strategy. In Experiment 2, blindfolded participants pressed their hand on a display filled with hard and soft items. In the search for a soft target, increasing reaction times with the number of items were found, but the location of target and distractors appeared to have a large influence on the search difficulty. In the search for a hard target, reaction times did not depend on the number of items. In sum, this showed that both hardness and softness are salient features.

Auditory frequency discrimination in adults with dyslexia: a test of the anchoring hypothesis

PURPOSE

A recent hypothesis ascribes dyslexia to a perceptual anchoring deficit. Supporting results have so far been obtained only in children with dyslexia and additional learning difficulties, but the hypothesis has been argued to apply to all individuals with dyslexia.

METHOD

The authors measured auditory frequency discrimination thresholds in 54 young adults (native speakers of Dutch; 25 individuals with dyslexia; 29 age- and education-matched controls), with a 2-alternative forced-choice staircase paradigm. There were 2 conditions: 1 in which 1 tone in each pair had a fixed frequency across trials (standard), and 1 in which both tones varied in frequency (no standard). Presence of a standard stimulus allows the creation of a stimulus-specific representation in short-term-memory (perceptual anchor).

RESULTS

The standard condition yielded significantly lower discrimination thresholds in both controls and individuals with dyslexia; both groups benefited equally from the presence of an invariant stimulus.

CONCLUSION

There is no difference between this group of adults with dyslexia and controls in their capacity to form a perceptual anchor. The implication is that an anchoring deficit cannot be generalized to all cases of dyslexia.

Human perception of shape from touch

In this paper, I focus on the role of active touch in three aspects of shape perception and discrimination studies. First an overview is given of curvature discrimination experiments. The most prominent result is that first-order stimulus information (that is, the difference in attitude or slope over the stimulus) is the dominant factor determining the curvature threshold. Secondly, I compare touch under bimanual and two-finger performance with unimanual and one-finger performance. Consistently, bimanual or two-finger performance turned out to be worse. The most likely explanation for the former finding is that a loss of accuracy during intermanual comparisons is owing to interhemispheric relay. Thirdly, I address the presence of strong after-effects after just briefly touching a shape. These after-effects have been measured and studied in various conditions (such as, static, dynamic, transfer to other hand or finger). Combination of the results of these studies leads to the insight that there are possibly different classes of after-effect: a strong after-effect, caused by immediate contact with the stimulus, that does only partially transfer to the other hand, and one much less strong after-effect, caused by moving over the stimulus for a certain period, which shows a full transfer to other fingers.

Influence of Local Properties on the Perception of Global Object Orientation

In previous studies, the effect on perception of individual features such as curvature and edges have been studied with specifically designed stimuli. However, the effect of local properties on the perception of the global object has so far received little attention. In this study, cylinders with an elliptical cross section and rectangular blocks were used to investigate the effect and relative importance of curvature, change in curvature and edges, as local properties, on the ability of subjects to determine the orientation of the stimuli, which is a global property. We found that when curvature was present the threshold to determine the orientation was 43 percent lower than when curvature was absent. When, in addition, the change in curvature could be felt, the threshold was 37 percent lower than when only curvature could be felt. Finally, when edges were felt during exploration, the threshold increased by 46 percent compared to when the subjects were instructed to avoid the edges in the blocks. We conclude that the perception of curvature and change in curvature improve the performance of humans in perception of the whole shape, whereas edges, when not directly contributing to the task, disrupt performance.

Phase change materials and the perception of wetness

Phase change materials (PCMs) are increasingly incorporated in textiles in order to serve as a thermal buffer when humans change from a hot to a cold environment and the reverse. Due to the absence of wetness sensors in the skin, cooling of the skin may be perceived as a sensation of wetness instead of cold. In order to investigate if this phenomenon occurs when manipulating textiles, nine subjects were asked to touch or manipulate PCM-treated and untreated fabrics. In 75% of the cases, the subjects indicated that the treated material felt wetter than the untreated material independent of the way the textiles were manipulated. We conclude that incorporating PCMs in textiles may lead to a feeling of wetness which might be uncomfortable. Therefore, we recommend investigating a change in cooling properties to minimise this feeling.

PRACTITIONER SUMMARY

This article describes a psychophysical experiment into the sensation of wetness of textiles treated with phase change materials. It was found that in 75% of the cases, subjects found the treated fabric to feel wetter than the untreated. This may affect the comfort of wearing clothes made of these textiles.

An extended 15 Hz ERG protocol (2): data of normal subjects and patients with achromatopsia, CSNB1, and CSNB2

The amplitude versus flash strength curve of 15 Hz electroretinograms (ERGs) shows two minima. The minima are caused by interactions between the primary and the secondary rod pathways (first minimum), and the secondary rod pathway and the cone-driven pathway (second minimum). Furthermore, cone pathway contributions cause higher-order harmonics to occur in the responses. We measured 15 Hz ERGs in 20 healthy subjects to determine normal ranges and in patients to verify our hypotheses on the contributions of the different pathways and to investigate the clinical application. We analyzed the amplitudes and phases of the 15, 30, and 45 Hz components in the ERGs. The overall shape of the 15 Hz amplitude curves was similar in all normal subjects and showed two minima. The 30 and 45 Hz amplitude curves increased for stimuli of high flash strengths indicating cone pathway contributions. The 15 Hz amplitude curve of the responses of an achromat was similar to that of the normal subjects for low flash strengths and showed a minimum, indicating normal primary and secondary rod pathway function. There was no second minimum, and there were no higher-order harmonics, consistent with absent cone pathway function. The 15 Hz ERGs in CSNB1 and CSNB2 patients were similar and of low amplitude for flash strengths just above where the first minimum normally occurs. We could determine that in the CSNB1 patients, the responses originate from the cone pathway, while in the CSNB2 patients, the responses originate from the secondary rod pathway.

An extended 15 Hz ERG protocol (1): the contributions of primary and secondary rod pathways and the cone pathway

The minimum in the amplitude versus flash strength curve of dark-adapted 15 Hz electroretinograms (ERGs) has been attributed to interactions between the primary and secondary rod pathways. The 15 Hz ERGs can be used to examine the two rod pathways in patients. However, previous studies suggested that the cone-driven pathway also contributes to the 15 Hz ERGs for flash strengths just above that of the minimum. We investigated cone pathway contributions to improve upon the interpretation of (abnormal) 15 Hz ERGs measured in patients. We recorded 15 Hz ERGs in five healthy volunteers, using a range of flash strengths that we extended to high values. The stimuli were varied in both colour (blue, green, amber, and red) and flash duration (short flash and square wave) in order to stimulate rods and cones in various ways. The differences in the responses to the four colours could be fully explained by the spectral sensitivity of rods for flash strengths up to approximately 12.5 log quanta·deg(-2). At higher flash strengths, higher-order harmonics appeared in the responses which could be attributed to cones being more sensitive than rods to higher frequencies. Furthermore, the amplitude curves of the blue and green responses showed a second minimum suggesting rod to cone interactions. We present a descriptive model of the contributions of the rod and cone pathways. In clinical application, we would advise using the short flash flicker instead of the square wave flicker, as the responses are of larger amplitude, and cone pathway contributions can be recognized from large higher-order harmonics.