Wouter M. Bergmann Tiest

Tactual perception of material properties

This paper reviews tactual perception of material properties such as roughness, compliance, coldness and friction. Psychophysical functions relating physical properties to perception are discussed, as well as discrimination thresholds. Also, the neural codes mediating some of these sensations are discussed. Furthermore, we take a look into how sensation of these material properties can be induced artificially in haptic displays. Lastly, the interactions between perception of the different material properties are explored.

Salient features in 3-D haptic shape perception

Shape is an important cue for recognizing an object by touch. Several features, such as edges, curvature, surface area, and aspect ratio, are associated with 3-D shape. To investigate the saliency of 3-D shape features, we developed a haptic search task. The target and distractor items consisted of shapes (cube, sphere, tetrahedron, cylinder, and ellipsoid) that differed in several of these features. Exploratory movements were left as unconstrained as possible. Our results show that this type of haptic search task can be performed very efficiently (25 msec/item) and that edges and vertices are the most salient features. Furthermore, very salient local features, such as edges, can also be perceived through enclosure, an exploratory procedure usually associated with global shape. Since the subjects had to answer as quickly as possible, this suggests that speed may be a factor in selecting the appropriate exploratory procedure.

Haptic pop-out in a hand sweep

Visually, a red item is easily detected among green items, whereas a mirrored S among normal Ss is not. In visual search, the former is known as the pop-out effect. In daily life, people often also conduct haptic (tactual) searches, for instance, when trying to find keys in their pocket. The aim of the present research was to determine whether there is a haptic version of the pop-out effect. Blindfolded subjects had to search for a target item which differed in roughness from the surrounding distractor items. We report reaction time slopes as low as 20 ms/item. When target and distractor identities were interchanged the slopes increased indicating a search asymmetry. Furthermore, we show that differences in search slope were accompanied by search strategy differences. In some conditions a single-hand sweep over the display was sufficient, while in others a more detailed search strategy was used. By relating haptic search slopes to parallel and serial search strategies we show, for the first time, that pop-out effects occur under free manual exploration.

Tactile perception of thermal diffusivity

The thermal diffusivity of an object is a parameter that controls the rate at which heat is extracted from the hand when it touches that object. It is an important feature for distinguishing materials by means of touch. In order to quantitatively describe the ability of human observers to discriminate between materials on the basis of heat extraction rate, we conducted an experiment in which this heat extraction was performed in a controlled way. In different conditions, subjects were repeatedly asked to select from two stimuli the one that cooled faster. The discrimination threshold was around 43% of the extraction rate. A rate that was twice as slow also yielded twice the absolute threshold. When we halved the temperature difference between the beginning and end of the stimulus, the threshold did not change as much. In separate experiments, we investigated the different cues that were available in the stimulus: initial cooling rate and end temperature. Both cues were used for discrimination, but cooling rate seemed to be the most important.

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.

Haptic perception of volume and surface area of 3-D objects

Haptic perception of volume (Experiment 1) and surface area (Experiment 2) was studied with tetrahedrons, cubes, and spheres as stimuli (2–14 cm3). The results of Experiment 1 showed that subjects perceived a tetrahedron to be larger in volume than either a cube or a sphere of the same physical volume and that they perceived a cube to be larger than a sphere. This pattern was independent of object size. The biases were smaller in conditions with mass information than in those without. The average biases in the different conditions ranged from 7% to 67%. Analyses revealed that the subjects apparently based their volume judgments on the surface area of objects. Experiment 2 showed that surface area itself could be perceived accurately, almost independently of the objects’ shape. Experiment 3 investigated volume perception of objects in the absence of surface area (wire-frame objects) and showed larger biases than those observed with solid objects. With wire-frame objects, the maximal distance between two vertex points was probably the dimension on which the volume judgment was based. In conclusion, haptic volume perception of geometric objects has to be inferred from other object properties, but surface area can be perceived unbiased.

Visually Guided Haptic Search

In this study, we investigate the influence of visual feedback on haptic exploration. A haptic search task was designed in which subjects had to haptically explore a virtual display using a force-feedback device and to determine whether a target was present among distractor items. Although the target was recognizable only haptically, visual feedback of finger position or possible target positions could be given. Our results show that subjects could use visual feedback on possible target positions even in the absence of feedback on finger position. When there was no feedback on possible target locations, subjects scanned the whole display systematically. When feedback on finger position was present, subjects could make well-directed movements back to areas of interest. This was not the case without feedback on finger position, indicating that showing finger position helps to form a spatial representation of the display. In addition, we show that response time models of visual serial search do not generally apply for haptic serial search. Consequently, in teleoperation systems, for instance, it is helpful to show the position of the probe even if visual information on the scene is poor.

Haptic pop-out of movable stimuli

When, in visual and haptic search, a target is easily found among distractors, this is called a pop-out effect. The target feature is then believed to be salient, and the search is performed in a parallel way. We investigated this effect with movable stimuli in a haptic search task. The task was to find a movable ball among anchored distractors or the other way round. Results show that reaction times were independent of the number of distractors if the movable ball was the target but increased with the number of items if the anchored ball was the target. Analysis of hand movements revealed a parallel search strategy, shorter movement paths, a higher average movement speed, and a narrower direction distribution with the movable target, as compared with a more detailed search for an anchored target. Taken together, these results show that a movable object pops out between anchored objects and this indicates that movability is a salient object feature. Vibratory signals resulting from the movable ball were found to be a reasonable explanation regarding the sensation responsible for the pop-out of movability.

Context effects in haptic perception of roughness

The influence of temporal and spatial context during haptic roughness perception was investigated in two experiments. Subjects examined embossed dot patterns of varying average dot distance. A two-alternative forced-choice procedure was used to measure discrimination thresholds and biases. In Experiment 1, subjects had to discriminate between two stimuli that were presented simultaneously to adjacent fingers, after adaptation of one of these fingers. The results showed that adaptation to a rough surface decreased the perceived roughness of a surface subsequently scanned with the adapted finger, whereas adaptation to a smooth surface increased the perceived roughness (i.e. contrast after effect). In Experiment 2, subjects discriminated between subsequent test stimuli, while the adjacent finger was stimulated simultaneously. The results showed that perceived roughness of the test stimulus shifted towards the roughness of the adjacent stimulus (i.e. assimilation effect). These contextual effects are explained by structures of cortical receptive fields. Analogies with comparable effects in the visual system are discussed.

Kinaesthetic and Cutaneous Contributions to the Perception of Compressibility

Compressibility or hardness of objects is an important aspect in haptic perception. Both cutaneous and kinaesthetic information are used for the perception of compressibility. In this paper, the relative role of these contributions is investigated. This is done with psychophysical experiments using a purpose-made silicon rubber stimulus set. The fabrication and characterisation of the stimuli are described, as well as discrimination experiments with and without surface deformation of the stimuli. With the cutaneous cues of surface deformation present, the Weber fraction for hardness discrimination was 0.12. When surface deformation was removed and only kinaesthetic cues were available, the Weber fraction doubled, suggesting that the cutaneous sense contributes almost three quarters to hardness perception, and the kinaesthetic just over one quarter, if the information is integrated in a statistically optimal fashion.