Susan J. Lederman

Hand Movements: A Window into Haptic Object Recognition.

Abstract Two experiments establish links between desired knowledge about objects and hand movements during haptic object exploration. Experiment 1 used a match-to-sample task, in which blindfolded subjects were directed to match objects on a particular dimension (e.g., texture). Hand movements during object exploration were reliably classified as “exploratory procedures,” each procedure defined by its invariant and typical properties. The movement profile, i.e., the distribution of exploratory procedures, was directly related to the desired object knowledge that was required for the match. Experiment 2 addressed the reasons for the specific links between exploratory procedures and knowledge goals. Hand movements were constrained, and performance on various matching tasks was assessed. The procedures were considered in terms of their necessity, sufficiency, and optimality of performance for each task. The results establish that in free exploration, a procedure is generally used to acquire information about an object property, not because it is merely sufficient, but because it is optimal or even necessary. Hand movements can serve as “windows,” through which it is possible to learn about the underlying representation of objects in memory and the processes by which such representations are derived and utilized.

Identifying objects by touch: An “expert system”

How good are we at recognizing objects by touch? Intuition may suggest that the haptic system is a poor recognition device, and previous research with nonsense shapes and tangible-graphics displays supports this opinion. We argue that the recognition capabilities of touch are best assessed with three-dimensional, familiar objects. The present study provides a baseline measure of recognition under those circumstances, and it indicates that haptic object recognition can be both rapid and accurate.

Haptic perception: A tutorial

This tutorial focuses on the sense of touch within the context of a fully active human observer. It is intended for graduate students and researchers outside the discipline who seek an introduction to the rapidly evolving field of human haptics. The tutorial begins with a review of peripheral sensory receptors in skin, muscles, tendons, and joints. We then describe an extensive body of research on “what” and “where” channels, the former dealing with haptic perception of objects, surfaces, and their properties, and the latter with perception of spatial layout on the skin and in external space relative to the perceiver. We conclude with a brief discussion of other significant issues in the field, including vision-touch interactions, affective touch, neural plasticity, and applications.

Tactile roughness of grooved surfaces: The touching process and effects of macro- and microsurface structure*

Ss made magnitude estimates of the perceived roughness of grooved aluminum plates. Two aspects of the touching process were altered and their effects upon roughness examined. Roughness increased with increasing finger force, regardless of whether the S or the E chose the values. Rate of hand motion had a negligible effect on perceived roughness, indicating a roughness constancy and providing further evidence of the relative unimportance of vibratory frequency. The effects of these components of the touching process were discussed in terms of an active-passive continuum rather than a dichotomy. Perceived roughness declined with increasing land width (with narrow grooves), although only over the widest half of the land range; there was no land effect when the grooves were wide. In addition to these macrostructural parameters, the effects of two stimulus production techniques were compared. The discrepancies between the two sets of data were interpreted in terms of the microscopic irregularities of the plate surfaces. The findings were briefly related to an analysis of perceived roughness of grooved surfaces in terms of static deformation of the skin.

Fingertip force, surface geometry, and the perception of roughness by active touch

Ss made magnitude estimates of the perceived roughness of grooved metal plates under conditions of active touch with controlled finger force. The wider the grooves in the plate, the narrower the lands between the grooves, or the greater the finger force, the greater was the perceived roughness. Increase in finger force also slightly increased the slope of the magnitude estimation function, suggesting not only that the roughness of a uniform surface but also the contrasts in the roughness of differing parts of a patterned surface would be altered by changes in the manner of feeling the surface. An analogous effect has been reported in vision, in that increases in illumination increase the apparent contrast of a surface.

Extracting object properties through haptic exploration.

This paper reviews some of our recent research on haptic exploration, perception and recognition of multidimensional objects. We begin by considering the nature of manual exploration in terms of the characteristics of various exploratory procedures (EPs) or stereotypical patterns of hand movements. Next, we explore their consequences for the sequence of EPs selected, for the relative cognitive salience of material versus geometric properties, and for dimensional integration. Finally, we discuss several applications of our research programme to the development of tangible graphics displays for the blind, autonomous and teleoperated haptic robotic systems, and food evaluation in the food industry.

Similarity of tactual and visual picture recognition with limited field of view

Subjects attempted to recognize simple line drawings of common objects using either touch or vision. In the touch condition, subjects explored raised line drawings using the distal pad of the index finger or the distal pads both of the index and of the middle fingers. In the visual condition, a computer-driven display was used to simulate tactual exploration. By moving an electronic pen over a digitizing tablet, the subject could explore a line drawing stored in memory; on the display screen a portion of the drawing appeared to move behind a stationary aperture, in concert with the movement of the pen. This aperture was varied in width, thus simulating the use of one or two fingers. In terms of average recognition accuracy and average response latency, recognition performance was virtually the same in the one-finger touch condition and the simulated one-finger vision condition. Visual recognition performance improved considerably when the visual field size was doubled (simulating two fingers), but tactual performance showed little improvement, suggesting that the effective tactual field of view for this task is approximately equal to one finger pad. This latter result agrees with other reports in the literature indicating that integration of two-dimensional pattern information extending over multiple fingers on the same hand is quite poor. The near equivalence of tactual picture perception and narrow-field vision suggests that the difficulties of tactual picture recognition must be largely due to the narrowness of the effective field of view.

Visual mediation and the haptic recognition of two-dimensional pictures of common objects.

A set of three experiments was performed to investigate the role of visual imaging in the haptic recognition of raised-line depictions of common objects. Blindfolded, sighted (Experiment 1) observers performed the task very poorly, while several findings converged to indicate that a visual translation process was adopted. These included: (1) strong correlations between imageability ratings (obtained in Experiment 1 and, independently, in Experiment 2) and both recognition speed and accuracy, (2) superior performance with, and greater ease of imaging, twodimensional as opposed to three-dimensional depictions, despite equivalence in rated line complexity, and (3) a significant correlation between the general ability ofthe observer to image and obtained imageability ratings of the stimulus depictions. That congenitally blind observers performed the same task even more poorly, while their performance did not differ for two- versus three-dimensional depictions (Experiment 3), provides further evidence that visual translation was used by the sighted. Such limited performance is contrasted with the considerable skill with which real common objects are processed and recognized haptically. The reasons for the general difference in the haptic performance of two- versus three-dimensional tasks are considered. Implications for the presentation of spatial information in the form of tangible graphics displays for the blind are also discussed.

Tactile roughness perception with a rigid link interposed between skin and surface

Subjects made roughness judgments of textured surfaces made of raised elements, while holding stick-like probes or through a rigid sheath mounted on the fingertip. These rigid links, which impose vibratory coding of roughness, were compared with the finger (bare or covered with a compliant glove), using magnitude-estimation and roughness differentiation tasks. All end effectors led to an increasing function relating subjective roughness magnitude to surface interelement spacing, and all produced above-chance roughness discrimination. Although discrimination was best with the finger, rigid links produced greater perceived roughness for the smoothest stimuli. A peak in the magnitude-estimation functions for the small probe and a transition from calling more sparsely spaced surfaces rougher to calling them smoother were predictable from the size of the contact area. The results indicate the potential viability of vibratory coding of roughness through a rigid link and have implications for teleoperation and virtual-reality systems.

Relative availability of surface and object properties during early haptic processing.

How the relative order in which 4 property classes of haptically perceived surfaces becomes available for processing after initial contact was studied. The classes included material, abrupt-surface discontinuity, relative orientation, and continuous 3-D surface contour properties. Relative accessibility was evaluated by using the slopes of haptic search functions obtained with a modified version of A. Treismans (A. Treisman & S. Gormican, 1988) visual pop-out paradigm; the y0 intercepts were used to confirm and fine-tune order of accessibility. Target and distractors differed markedly in terms of their value on a single dimension. The results of 15 experiments show that coarse intensive discriminations are haptically processed early on. In marked contrast, most spatially encoded dimensions become accessible relatively later, sometimes considerably so.