Chie Takahashi

Visual-haptic integration with pliers and tongs: signal "weights" take account of changes in haptic sensitivity caused by different tools

When we hold an object while looking at it, estimates from visual and haptic cues to size are combined in a statistically optimal fashion, whereby the “weight” given to each signal reflects their relative reliabilities. This allows object properties to be estimated more precisely than would otherwise be possible. Tools such as pliers and tongs systematically perturb the mapping between object size and the hand opening. This could complicate visual-haptic integration because it may alter the reliability of the haptic signal, thereby disrupting the determination of appropriate signal weights. To investigate this we first measured the reliability of haptic size estimates made with virtual pliers-like tools (created using a stereoscopic display and force-feedback robots) with different “gains” between hand opening and object size. Haptic reliability in tool use was straightforwardly determined by a combination of sensitivity to changes in hand opening and the effects of tool geometry. The precise pattern of sensitivity to hand opening, which violated Webers law, meant that haptic reliability changed with tool gain. We then examined whether the visuo-motor system accounts for these reliability changes. We measured the weight given to visual and haptic stimuli when both were available, again with different tool gains, by measuring the perceived size of stimuli in which visual and haptic sizes were varied independently. The weight given to each sensory cue changed with tool gain in a manner that closely resembled the predictions of optimal sensory integration. The results are consistent with the idea that different tool geometries are modeled by the brain, allowing it to calculate not only the distal properties of objects felt with tools, but also the certainty with which those properties are known. These findings highlight the flexibility of human sensory integration and tool-use, and potentially provide an approach for optimizing the design of visual-haptic devices.

Fractionating the unitary notion of dissociation: disembodied but not embodied dissociative experiences are associated with exocentric perspective-taking

It has been argued that hallucinations which appear to involve shifts in egocentric perspective (e.g., the out-of-body experience, OBE) reflect specific biases in exocentric perspective-taking processes. Via a newly devised perspective-taking task, we examined whether such biases in perspective-taking were present in relation to specific dissociative anomalous body experiences (ABE) – namely the OBE. Participants also completed the Cambridge Depersonalization Scale (CDS; Sierra and Berrios, 2000) which provided measures of additional embodied ABE (unreality of self) and measures of derealization (unreality of surroundings). There were no reliable differences in the level of ABE, emotional numbing, and anomalies in sensory recall reported between the OBE and control group as measured by the corresponding CDS subscales. In contrast, the OBE group did provide significantly elevated measures of derealization (“alienation from surroundings” CDS subscale) relative to the control group. At the same time we also found that the OBE group was significantly more efficient at completing all aspects of the perspective-taking task relative to controls. Collectively, the current findings support fractionating the typically unitary notion of dissociation by proposing a distinction between embodied dissociative experiences and disembodied dissociative experiences – with only the latter being associated with exocentric perspective-taking mechanisms. Our findings – obtained with an ecologically valid task and a homogeneous OBE group – also call for a re-evaluation of the relationship between OBEs and perspective-taking in terms of facilitated disembodied experiences.

Signs of increased cortical hyperexcitability selectively associated with spontaneous anomalous bodily experiences in a nonclinical population

Introduction. The current study examined the presence of cortical hyperexcitability, in nonclinical hallucinators, reporting different forms of anomalous bodily experiences (ABEs). Groups reporting visual out-of-body experiences and nonvisual sensed-presence experiences were examined. It was hypothesised that only those hallucinators whose experiences contained visual elements would show increased signs of visual cortical hyperexcitability. Methods. One hundred and eighty-two participants completed the “Pattern-glare task” (involving the viewing of striped gratings with spatial frequencies irritable to visual cortex)—a task known to reflect degrees of cortical hyperexcitability associated with hallucinatory/aura experiences in neurological samples. Participants also completed questionnaire measures of anomalous “temporal-lobe experience” and predisposition to anomalous visual experiences. Results. Those reporting increased levels of anomalous bodily experiences provided significantly elevated scores on measures of temporal-lobe experience. Only the visual OBE group reported significantly elevated levels of cortical hyperexcitability as assessed by the pattern-glare task. Conclusions. Collectively, the results are consistent with there being an increased degree of background cortical hyperexcitability in the cortices of individuals predisposed to some ABE-type hallucinations, even in the nonclinical population. The present study also establishes the clinical utility of the pattern-glare task for examining signs of aberrant visual connectivity in relation to visual hallucinations.

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

We present early pilot-studies of a new international project, developing advanced robotics to handle nuclear waste. Despite enormous remote handling requirements, there has been remarkably little use of robots by the nuclear industry. The few robots deployed have been directly teleoperated in rudimentary ways, with no advanced control methods or autonomy. Most remote handling is still done by an aging workforce of highly skilled experts, using 1960s style mechanical Master-Slave devices. In contrast, this paper explores how novice human operators can rapidly learn to control modern robots to perform basic manipulation tasks; also how autonomous robotics techniques can be used for operator assistance, to increase throughput rates, decrease errors, and enhance safety. We compare humans directly teleoperating a robot arm, against human-supervised semi-autonomous control exploiting computer vision, visual servoing and autonomous grasping algorithms. We show how novice operators rapidly improve their performance with training; suggest how training needs might scale with task complexity; and demonstrate how advanced autonomous robotics techniques can help human operators improve their overall task performance. An additional contribution of this paper is to show how rigorous experimental and analytical methods from human factors research, can be applied to perform principled scientific evaluations of human test-subjects controlling robots to perform practical manipulative tasks.

Stimulating the aberrant brain: Evidence for increased cortical hyperexcitability from a transcranial direct current stimulation (tDCS) study of individuals predisposed to anomalous perceptions

Findings from neurological and clinical groups have shown that increased predisposition to anomalous experience/aura reflects an elevation in aberrant neural processes in the brain. However, studies of anomalous experiences in non-clinical/non-neurological groups are less clear on this matter and are more typically confined to subjective questionnaire measures alone. The current investigation, the first to our knowledge, carried out a transcranial Direct Current Stimulation (tDCS) study of cortical hyperexcitability, and its association with anomalous experience in non-clinical/non-neurological groups. Sixty participants completed; (i) both excitatory (anodal) and inhibitory (cathodal) brain stimulation conditions of the visual cortex; (ii) a computerised pattern-glare task, where observers reported phantom visual distortions from viewing highly irritable visual patterns (a metric of cortical hyperexcitability), and; (iii) questionnaire measures of predisposition to anomalous perceptions. There were no reliable signs of cortical hyperexcitability (via pattern-glare tasks) when collapsed across the whole sample. However, a significant positive correlation between predisposition to anomalous experience and elevated signs of cortical hyperexcitability was observed. Crucially, there was a significant negative correlation between tDCS stimulatory conditions. A visual cortex that reacted more strongly to excitatory stimulation, responded less well to inhibitory suppression, and this pattern was related to predisposition to anomalous perceptions. Both findings are consistent with the presence of a hyperexcitable cortex. Collectively the present findings provide objective evidence that the brains of individuals predisposed to anomalous experiences/hallucinations can be hyperexcitable - even in the non-clinical/non-neurological population. These data are consistent with continuum models of anomalous experience and have important implications for contemporary theories of aberrations in self-consciousness.

Optimal visual–haptic integration with articulated tools

When we feel and see an object, the nervous system integrates visual and haptic information optimally, exploiting the redundancy in multiple signals to estimate properties more precisely than is possible from either signal alone. We examined whether optimal integration is similarly achieved when using articulated tools. Such tools (tongs, pliers, etc) are a defining characteristic of human hand function, but complicate the classical sensory ‘correspondence problem’ underlying multisensory integration. Optimal integration requires establishing the relationship between signals acquired by different sensors (hand and eye) and, therefore, in fundamentally unrelated units. The system must also determine when signals refer to the same property of the world—seeing and feeling the same thing—and only integrate those that do. This could be achieved by comparing the pattern of current visual and haptic input to known statistics of their normal relationship. Articulated tools disrupt this relationship, however, by altering the geometrical relationship between object properties and hand posture (the haptic signal). We examined whether different tool configurations are taken into account in visual–haptic integration. We indexed integration by measuring the precision of size estimates, and compared our results to optimal predictions from a maximum-likelihood integrator. Integration was near optimal, independent of tool configuration/hand posture, provided that visual and haptic signals referred to the same object in the world. Thus, sensory correspondence was determined correctly (trial-by-trial), taking tool configuration into account. This reveals highly flexible multisensory integration underlying tool use, consistent with the brain constructing internal models of tools’ properties.

Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning

This paper explores the problems of developing robotic systems for decommissioning legacy nuclear infrastructure, such as the many contaminated gloveboxes present in UK, USA and other countries. We begin with a discussion of these decomissioning challenges. We review the current manual methods for decommissioning alpha-contaminated plant, and review robotic approaches which might replace such direct human interventions. We then present our initial experiments with human test-subjects, exploring the ability of humans to control a remote robot to perform complex manipulation tasks. Our preliminary results reveal a number of interesting lessons: conventional tele-manipulation is very difficult and very slow without significant training; metrics for usability of such technology can be conflicting and hard to interpret; aptitude for tele-manipulation varies significantly between individuals; however such aptitude may be predicted by using spatial awareness tests to select prospective robot operators; additionally the abilities of people with different initial aptitudes appear to converge somewhat as learning progresses. An additional contribution of this paper is to show how rigorous scientific methodologies, drawn from the psychology and human-factors research fields, can be used to analyse the performance of humans using robots to perform practical tasks.

The Cortical Hyperexcitability Index (CHi): a new measure for quantifying correlates of visually driven cortical hyperexcitability

Introduction. Aberrations of visual experience, including visual hallucinations and visual distortions, are known to be associated with increased cortical hyperexcitability. As a consequence, the presence, intensity and frequency of certain experiences may well be indicative of an underlying increase in cortical hyperexcitability. Methods. The current study presents a new proxy measure of cortical hyperexcitability, the Cortical Hyperexcitability Index (CHi). Two hundred and fifty healthy participants completed the CHi with the results subjected to exploratory factor analysis (EFA). Results. The EFA revealed a three-factor model as the most parsimonious solution. The three factors were defined as: (1) heightened visual sensitivity and discomfort; (2) negative aura-type visual aberrations; and (3) positive aura-type visual aberrations. The identification of three factors suggests that multiple mechanisms underlie the notion of cortical hyperexcitability, providing researchers with new and greater precision in delineating these underlying features. Conclusions. The factorial structure of the CHi and the increased precision could aid the interpretation of findings from neuroscientific (i.e., brain imaging/stimulation) examinations of cortical processes underlying aberrant perceptions across a host of clinical, neurological and pathological conditions. As a consequence, the CHi is a useful and comprehensive proxy measure of cortical hyperexcitability with considerable scientific and clinical utility.

Changes in haptic sensitivity during tool use: Implications for optimal design of visual-haptic devices

Optimising haptic sensitivity in visual-haptic interfaces can have important benefits, particularly in situations where visual information is relatively unreliable (for example in surgical devices, where there is often a lack of normal visual depth cues). Many haptic devices alter the normal relationship between object size and hand opening, and so might be expected to alter haptic sensitivity. To determine how to optimise haptic sensitivity in such situations, we measured haptic size sensitivity as a function of object size (i) during normal grasping, and (ii) using pliers-like tools that changed the gain between hand opening and object size. Haptic stimuli were created using force-feedback robots, and we measured discrimination thresholds using a two-interval forced-choice task. We first showed that when participants directly grasped objects with their hands haptic size sensitivity did not follow Weber’s law, but instead varied non-monotonically with object size/hand opening; thresholds were lowest for object sizes around 45 mm and increased non-linearly for larger and smaller objects. Second, when using the pliers, sensitivity in units of hand opening was unchanged from normal grasping. Thus, thresholds in units of object size were simply the product of the non-monotonic haptic size sensitivity function, above, and the tool gain. Taken together, these results show that there is a unique tool gain that maximises haptic sensitivity to each object size. Our results show how the ‘tool gain’ of haptic devices should be altered to optimise sensitivity to the range of object sizes in a particular scene.

Visual-Haptic Integration: Cue Weights are Varied Appropriately, to Account for Changes in Haptic Reliability Introduced by Using a Tool

Tools such as pliers systematically change the relationship between an objects size and the hand opening required to grasp it. Previous work suggests the brain takes this into account, integrating visual and haptic size information that refers to the same object, independent of the similarity of the ‘raw’ visual and haptic signals (Takahashi et al., VSS 2009). Variations in tool geometry also affect the reliability (precision) of haptic size estimates, however, because they alter the change in hand opening caused by a given change in object size. Here, we examine whether the brain appropriately adjusts the weights given to visual and haptic size signals when tool geometry changes. We first estimated each cues reliability by measuring size-discrimination thresholds in vision-alone and haptics-alone conditions. We varied haptic reliability using tools with different object-size:hand-opening ratios (1:1, 0.7:1, and 1.4:1). We then measured the weights given to vision and haptics with each tool, using a cue-conflict paradigm. The weight given to haptics varied with tool type in a manner that was well predicted by the single-cue reliabilities (MLE model; Ernst and Banks, 2002). This suggests that the process of visual-haptic integration appropriately accounts for variations in haptic reliability introduced by different tool geometries.