Christopher C. Pagano

The inertia tensor as a basis for the perception of limb orientation.

The ability of humans to perceive the spatial orientation of an occluded arm was investigated. It was hypothesized that this ability is tied to the arms inertial eigenvectors, invariant mechanical parameters corresponding to a limbs axes of rotational symmetry. By breaking the coincidence between the eigenvectors of the arm and its longitudinal axis, 3 experiments were directed at the possibility that the perceived orientation of an occluded arm would vary as a function of the eigenvectors. Overall, the angles in which the arm was positioned were affected by the direction in which the eigenvectors of the limb were oriented by small appended masses. Discussion focused on the importance of physical invariants for proprioception.

Comparing Measures of Monocular Distance Perception: Verbal and Reaching Errors Are Not Correlated

Monocular perception of egocentric distance via optic flow generated by head movement toward a target was investigated with a helmet-mounted video camera and display. Ability to perceive target distance was assessed with 2 response measures: verbal reports and reaches. Systematic and random errors differed as a function of the response measure. Verbal estimates of targets within and beyond reach were obtained before and after the performance of reaches to targets within reach. Systematic errors of verbal estimates changed but did not decrease overall. Random error decreased. Verbal estimates and reaches were performed concurrently to targets within reach. Verbal and reaching errors were uncorrelated. Verbal judgments appear to have been anchored using the range of distances experienced while reaching rather than being calibrated to the perceptual information itself. Discussion focuses on the advantages of action response measures.

Role of the inertia tensor in perceiving object orientation by dynamic touch.

Ss wielded an occluded L-shaped rod and attempted to perceive the direction in which the rod was pointing with respect to the hand. The pattern of the rods different resistances to rotation in different directions, quantified by the inertia tensor, changes systematically with the rods orientation. Perception of orientation by wielding is possible if the tissue deformation consequences of the rods inertia tensor are detectable. It was shown that perceived orientation was a linear function of actual orientation for both free and restricted wielding and for rods of different-size branches. The eigenvectors of the inertia tensor were implicated as the basis for this haptic perceptual capability. Results were discussed in reference to information-perception specificity and its implications for effortful or dynamic touch.

Tensorial basis to the constancy of perceived object extent over variations of dynamic touch.

Subjects wielded occluded rods, with or without attached masses, and reported the distances reachable with their distal tips. Experiments 1–3 compared wielding about the wrist, the elbow, and the shoulder. Experiments 4 and 5 compared free wielding, using the whole arm, with wielding only about the wrist. The two comparisons, respectively, were of spatial and temporal variations in the rod’s rotational inertia. Perceived extent was found to be constant in both comparisons. This constancy was tied to the inertia tensorIij defined about a point that remains a fixed distance from the object during wielding—an invariant of the spatially and temporally dependent patterning of mechanical energy impressed upon the tissues of the body. Discussion focused on the reciprocal action and perception capabilities of multisegmented limbs, the tensorial relations in the neurobiology of dynamic touch, and the strategy of understanding perceptual constancy through invariants.

Eigenvectors of the inertia tensor and perceiving the orientation of a hand-held object by dynamic touch

Subjects wielded an object, hidden from view, and reported the orientation in which the object was positioned in the hand. The object consisted of a stem with two branches forming a V attached perpendicularly to the stem’s distal end. The branches were differentially weighted so that the same spatial orientation of the object was associated with different orientations of its principal (symmetry) axes or eigenvectors. Perceived orientation was found to be dependent on the eigenvectors of the object’s inertia tensor, computed about the point of rotation in the wrist, rather than on its spatial orientation. The results underscore the significance of the inertia tensor to understanding the perception of spatial properties by dynamic touch.

Exteroception and exproprioception by dynamic touch are different functions of the inertia tensor

When an object is held and wielded, a time-invariant quantity of the wielding dynamics is the inertia tensorIij. The 3 × 3 quantityIij is composed of moments of inertia (on the diagonal) and products of inertia (off the diagonal). Examination ofIij as a function of different locations at which a cylindrical object is grasped revealed that the products related systematically to grip position (a direction), and both the products and moments taken together related systematically to the extent of the rod to one side of the hand (a magnitude in a direction). In two experiments, observers wielded an occluded rod that was held at an intermediate point along its length and reproduced both the felt grip position and partial rod length. In both experiments, perceived grip position was a function of the rod’s products of inertia and perceived partial rod length was a function of the moments and products. Discussion focuses on the specificity of exteroception and exproprioception toIij.

Role of the inertia tensor in haptically perceiving where an object is grasped.

When an object is held and wielded, a time-invariant quantity of the wielding dynamics is the inertia tensor Iij. Examination of Iij as a function of different locations at which a cylindrical object is grasped revealed that the off-diagonal components of Iij--the products of inertia--related most systematically to grip position. In 3 experiments, Ss wielded an occluded rod held at an intermediate point along its length and reproduced, with the other hand, the felt grip position on a visible rod. In Experiment 1, the wielded rods were homogeneous; in Experiments 2 and 3, weights were added on either side of the grasp, with different manners of grasp contrasted in Experiment 3. In all 3 experiments, perceived hand position was predicted by Iij. Discussion was focused on the role of Iijs eigenvalues in perceiving the magnitudes of objects and Iijs eigenvectors in perceiving hand-object relations (e.g., position of grasp).

Salient haptic skills trainer: initial validation of a novel simulator for training force-based laparoscopic surgical skills.

BackgroundThere is an increasing need for efficient training simulators to teach advanced laparoscopic skills beyond those imparted by a box trainer. In particular, force-based or haptic skills must be addressed in simulators, especially because a large percentage of surgical errors are caused by the over-application of force. In this work, the efficacy of a novel, salient haptic skills simulator is tested as a training tool for force-based laparoscopic skills.MethodsThirty novices with no previous laparoscopic experience trained on the simulator using a pre-test–feedback–post-test experiment model. Ten participants were randomly assigned to each of the three salient haptic skills—grasping, probing, and sweeping—on the simulator. Performance was assessed by comparing force performance metrics before and after training on the simulator.ResultsData analysis indicated that absolute error decreased significantly for all three salient skills after training. Participants also generally decreased applied forces after training, especially at lower force levels. Overall, standard deviations also decreased after training, suggesting that participants improved their variability of applied forces.ConclusionsThe novel, salient haptic skills simulator improved the precision and accuracy of participants when applying forces with the simulator. These results suggest that the simulator may be a viable tool for laparoscopic force skill training. However, further work must be undertaken to establish full validity. Nevertheless, this work presents important results toward addressing simulator-based force-skills training specifically and surgical skills training in general.

Perception of Robot Passability With Direct Line of Sight and Teleoperation

Objective: To examine participants’ abilities to judge the passability of robots through apertures in direct-line-of-sight (DLS) and teleoperation (TO) conditions, two experiments were conducted. Background: Past work has demonstrated that operators find it difficult to perceive aspects of remote environments during TO. For example, urban search-and-rescue operators have experienced difficulty judging whether a robot could pass through openings or over obstacles. Although previous research has discussed perceptual difficulties in TO, the differences between DLS and TO have not been quantified. Method: In the first experiment, participants judged the smallest passable aperture widths for three robot sizes for both DLS and TO conditions. In the second experiment, aperture widths were judged for three camera heights and two robot distances during TO. Results: In the DLS condition, participants produced similar judgments for the three robot sizes using dimensionless measurements. In the TO condition, participants’ judgments were more variable and they judged smaller apertures as passable. Conclusion: Overall, participants judged apertures that were too small for the robot to pass as passable. This tendency was more pronounced in four instances: as robot size increased, during TO, when the camera was at its lowest height, and as distance between the robot and the aperture increased. Application: Judgments of passability help to quantify differences in perception between DLS and TO. These results will be useful in the design of training regimes for TO tasks. Increasing operator understanding of performance differences under varying conditions will lead them to be more accurate when making critical decisions in remote environments.

Spatial and physical frames of reference in positioning a limb

Splints attached to the right forearm were used to rotate the forearm’s physical reference frame, as defined by the eigenvectors of its inertia tensor, relative to its spatial reference frame. In two experiments, when subjects were required to orient the forearm parallel to, or at 45° to, the environmental horizontal, they produced limb orientations that were systematically deflected from the forearm’s longitudinal spatial axis in the direction of the forearm’s physical axes. The position sense seems to be based on inertial eigenvectors rather than on joint angles or gravitational torques.