Coincidence avoidance principle in surface haptic interpretation.

When multiple fingertips experience force sensations, how does the brain interpret the combined sensation? In particular, under what conditions are the sensations perceived as separate or, alternatively, as an integrated whole? In this work, we used a custom force-feedback device to display force signals to two fingertips (index finger and thumb) as they traveled along collinear paths. Each finger experienced a pattern of forces that, taken individually, produced illusory virtual bumps, and subjects reported whether they felt zero, one, or two bumps. We varied the spatial separation between these bump-like force-feedback regions, from being much greater than the finger span to nearly exactly the finger span. When the bump spacing was the same as the finger span, subjects tended to report only one bump. We found that the results are consistent with a quantitative model of perception in which the brain selects a structural interpretation of force signals that relies on minimizing coincidence stemming from accidental alignments between fingertips and inferred surface structures.

Spatial updating of multiple targets: Comparison of younger and older adults.

When walking without vision, people mentally keep track of the directions and distances of previously viewed objects, a process called spatial updating. The current experiment indicates that while people across a large age range are able to update multiple targets in memory without perceptual support, aging negatively affects accuracy, precision, and decision time. Participants (20 to 80 years of age) viewed one, three, or six targets (colored lights) on the floor of a dimly lit room. Then, without vision, they walked to a target designated by color, either directly or indirectly (via a forward turning point). The younger adults' final stopping points were both accurate (near target) and precise (narrowly dispersed), but updating performance did degrade slightly with the number of targets. Older adults' performance was consistently worse than the younger group, but the lack of interaction between age and memory load indicates that the effect of age on performance was not further exacerbated by a greater number of targets. The number of targets also significantly increased the latency required to turn toward the designated target for both age groups. Taken together, results extend previous work showing impressive updating performance by younger adults, with novel findings showing that older adults manifest small but consistent degradation of updating performance of multitarget arrays.

Effects of virtual acoustics on dynamic auditory distance perception.

Sound propagation encompasses various acoustic phenomena including reverberation. Current virtual acoustic methods ranging from parametric filters to physically accurate solvers can simulate reverberation with varying degrees of fidelity. The effects of reverberant sounds generated using different propagation algorithms on acoustic distance perception are investigated. In particular, two classes of methods for real time sound propagation in dynamic scenes based on parametric filters and ray tracing are evaluated. The study shows that ray tracing enables more distance accuracy as compared to the approximate, filter-based method. This suggests that accurate reverberation in virtual reality results in better reproduction of acoustic distances.

SPATIAL UPDATING OF HAPTIC ARRAYS ACROSS THE LIFE SPAN.

Background/Study Context: Aging research addressing spatial learning, representation, and action is almost exclusively based on vision as the input source. Much less is known about how spatial abilities from nonvisual inputs, particularly from haptic information, may change during life-span spatial development. This research studied whether learning and updating of haptic target configurations differs as a function of age. METHODS: Three groups of participants, ranging from 20 to 80 years old, felt four-target table-top circular arrays and then performed several tasks to assess life-span haptic spatial cognition. Measures evaluated included egocentric pointing, allocentric pointing, and array reconstruction after physical or imagined spatial updating. RESULTS: All measures revealed reliable differences between the oldest and youngest participant groups. The age effect for egocentric pointing contrasts with previous findings showing preserved egocentric spatial abilities. Error performance on allocentric pointing and map reconstruction tasks showing a clear age effect, with the oldest participants exhibiting the greatest error, is in line with other studies in the visual domain. Postupdating performance sharply declined with age but did not reliably differ between physical and imagined updating. CONCLUSION: Results suggest that there is a general trend for age-related degradation of spatial abilities after haptic learning, with the greatest declines manifesting in all measures in people over 60 years of age. Results are interpreted in terms of a spatial aging effect on mental transformations of three-dimensional representations of space in working memory.

Slant Perception Under Stereomicroscopy.

Objective These studies used threshold and slant-matching tasks to assess and quantitatively measure human perception of 3-D planar images viewed through a stereomicroscope. The results are intended for use in developing augmented-reality surgical aids. Background Substantial research demonstrates that slant perception is performed with high accuracy from monocular and binocular cues, but less research concerns the effects of magnification. Viewing through a microscope affects the utility of monocular and stereo slant cues, but its impact is as yet unknown. Method Participants performed in a threshold slant-detection task and matched the slant of a tool to a surface. Different stimuli and monocular versus binocular viewing conditions were implemented to isolate stereo cues alone, stereo with perspective cues, accommodation cue only, and cues intrinsic to optical-coherence-tomography images. Results At magnification of 5x, slant thresholds with stimuli providing stereo cues approximated those reported for direct viewing, about 12°. Most participants (75%) who passed a stereoacuity pretest could match a tool to the slant of a surface viewed with stereo at 5x magnification, with mean compressive error of about 20% for optimized surfaces. Slant matching to optical coherence tomography images of the cornea viewed under the microscope was also demonstrated. Conclusion Despite the distortions and cue loss introduced by viewing under the stereomicroscope, most participants were able to detect and interact with slanted surfaces. Application The experiments demonstrated sensitivity to surface slant that supports the development of augmented-reality systems to aid microscope-aided surgery.

Visual, tangible, and touch-screen: Comparison of platforms for displaying simple graphics.

Four different platforms were compared in a task of exploring an angular stimulus and reporting its value. The angle was explored visually, tangibly as raised fine-grit sandpaper, or on a touch-screen with a frictional or vibratory signal. All platforms produced highly accurate angle judgments. Differences were found, however, in exploration time, with vision fastest as expected, followed by tangible, vibration, and friction. Relative to the tangible display, touch-screens evidenced greater noise in the perceived angular value, with a particular disadvantage for friction. The latter must be interpreted in the context of a first-generation display and a rapidly advancing technology. On the whole, the results point both to promise and barriers in the use of refreshable graphical displays for blind users.

Common Dorsal Stream Substrates for the Mapping of Surface Texture to Object Parts and Visual Spatial Processing.

Everyday objects are often composed of multiple parts, each with a unique surface texture. The neural substrates mediating the integration of surface features on different object parts are not fully understood, and potential contributions by both the ventral and dorsal visual pathways are possible. To explore these substrates, we collected fMRI data while human participants performed a difference detection task on two objects with textured parts. The objects could either differ in the assignment of the same texture to different object parts ("texture-location") or the types of texture ("texture-type"). In the ventral stream, comparable BOLD activation levels were observed in response to texture-location and texture-type differences. In contrast, in a priori localized spatial processing regions of the dorsal stream, activation was greater for texture-location than texture-type differences, and the magnitude of the activation correlated with behavioral performance. We confirmed the reliance of surface texture to object part mapping on spatial processing mechanisms in subsequent psychophysical experiments, in which participants detected a difference in the spatial distance of an object relative to a reference line. In this task, distracter objects occasionally appeared, which differed in either texture-location or texture-type. Distracter texture-location differences slowed detection of spatial distance differences, but texture-type differences did not. More importantly, the distracter effects were only observed when texture-location differences were presented within whole shapes and not between separated shape parts at distinct spatial locations. We conclude that both the mapping of texture features to object parts and the representation of object spatial position are mediated by common neural substrates within the dorsal visual pathway.

Ventral and dorsal visual stream contributions to the perception of object shape and object location.

Growing evidence suggests that the functional specialization of the two cortical visual pathways may not be as distinct as originally proposed. Here, we explore possible contributions of the dorsal "where/how" visual stream to shape perception and, conversely, contributions of the ventral "what" visual stream to location perception in human adults. Participants performed a shape detection task and a location detection task while undergoing fMRI. For shape detection, comparable BOLD activation in the ventral and dorsal visual streams was observed, and the magnitude of this activation was correlated with behavioral performance. For location detection, cortical activation was significantly stronger in the dorsal than ventral visual pathway and did not correlate with the behavioral outcome. This asymmetry in cortical profile across tasks is particularly noteworthy given that the visual input was identical and that the tasks were matched for difficulty in performance. We confirmed the asymmetry in a subsequent psychophysical experiment in which participants detected changes in either object location or shape, while ignoring the other, task-irrelevant dimension. Detection of a location change was slowed by an irrelevant shape change matched for difficulty, but the reverse did not hold. We conclude that both ventral and dorsal visual streams contribute to shape perception, but that location processing appears to be essentially a function of the dorsal visual pathway.

Sensor-Based Discovery of Search and Palpation Modes in the Clinical Breast Examination.

PURPOSE: Successful implementation of precision education systems requires widespread adoption and seamless integration of new technologies with unique data streams that facilitate real-time performance feedback. This paper explores the use of sensor technology to quantify hands-on clinical skills. The goal is to shorten the learning curve through objective and actionable feedback. METHOD: A sensor-enabled clinical breast examination (CBE) simulator was used to capture force and video data from practicing clinicians (N = 152). Force-by-time markers from the sensor data and a machine learning algorithm were used to parse physicians' CBE performance into periods of search and palpation and then these were used to investigate distinguishing characteristics of successful versus unsuccessful attempts to identify masses in CBEs. RESULTS: Mastery performance from successful physicians showed stable levels of speed and force across the entire CBE and a 15% increase in force when in palpation mode compared with search mode. Unsuccessful physicians failed to search with sufficient force to detect deep masses ( F [5,146] = 4.24, P = .001). While similar proportions of male and female physicians reached the highest performance level, males used more force as noted by higher palpation to search force ratios ( t [63] = 2.52, P = .014). CONCLUSIONS: Sensor technology can serve as a useful pathway to assess hands-on clinical skills and provide data-driven feedback. When using a sensor-enabled simulator, the authors found specific haptic approaches that were associated with successful CBE outcomes. Given this study's findings, continued exploration of sensor technology in support of precision education for hands-on clinical skills is warranted.

The Single-Pitch Texel: A flexible and practical texture-rendering algorithm.

As the number of applications for tactile feedback technology rapidly increases, so too does the need for efficient, flexible, and extensible representations of virtual textures. The previously introduced Single-Pitch Texel rendering algorithm offers designers the ability to produce textures with perceptually wide-band spectral characteristics while requiring very few input parameters. This paper expands on the capabilities of the rendering algorithm. Diverse families of fine textures, with widely varied spectral characteristics, were shown to be rendered reliably using the Texel algorithm. Furthermore, by leveraging an assistive algorithm, subjects were shown to consistently navigate the Texel parameter space in a matching task. Finally, a psychophysical study was conducted to demonstrate the rendering algorithm's resilience to spectral quantization, further reducing the data required to represent a virtual texture.

Realism of Tactile Texture Playback: A Combination of Stretch and Vibration.

This study investigates the effects of two stimulation modalities (stretch and vibration) on natural touch sensation on the volar forearm. The skin-textile interaction was implemented by scanning three textures across the left forearm. The resulting skin displacements were recorded by the digital image correlation technique to capture the information imparted by the textures. The texture recordings were used to create three playback modes (stretch, vibration, and both), which were reproduced on the right forearm. Two psychophysical experiments compared the texture scans to rendered texture playbacks. The first experiment used a matching task and found that to maximize perceptual realism, i.e., similarity to a physical reference, subjects preferred the rendered texture to have a playback intensity of 1X-2X higher on DC components (stretch), and 1X-3.5X higher on AC components (vibration), varying across textures. The second experiment elicited similarity ratings between the texture scans and playbacks and showed that a combination of stretch and vibration was required to create differentiated texture sensations. However, the intensity amplification and use of two stimuli were still insufficient to create fully realistic texture sensations. We conclude that mechanisms beyond single-site uniaxial stimuli are needed to reproduce realistic textural sensations.

Investigating visual preferences of clinical mechanical anesthetic vibration: a cross-sectional image survey.

While mechanical vibration lessens discomfort associated with injection site pain (ISP), many local anesthetic injectors (LAIs) do not use vibratory anesthetic devices (VADs). Injector preference of vibration device is influenced by functional concerns, but qualitatively there is an element of adoption that is driven by visual feedback. We sought to capture operator preferences of vibration device design elements to further understand why injectors do not use these devices. We conducted a survey of image preferences among nurses and medical assistants employed at 8 dermatological clinics to investigate barriers to VAD use. Images were electronically modified with features distinct from the original device (a VAD commonly used in clinical practice). Participants rated their likelihood and comfort of use of each VAD represented in the images. Two-sample t-tests were used to compare the rating of the unmodified VAD to each modified VAD within participants. A response rate of 100% was achieved with 35 participants (average age, 38.5 years; 6 (17.1%) male, 29 (82.9%) female). Despite 28 (80%) participants knowing that mechanical vibration reduces ISP, only 16 (45.7%) endorsed ever using mechanical vibration as topical anesthetic. Images modified by pattern, color, and sterility covering were rated significantly lower than the original, unmodified VAD image (plain white VAD), confirming that visual feedback does impact adoption. Through independent comment categorization, aesthetics were found to be important to LAIs. Aesthetic preferences opposing functional concerns may factor into the lack of VAD use. Defining these visual preference barriers to adoption may help promote VAD use during dermatologic procedures.

Perception of 3-D location based on vision, touch, and extended touch.

Perception of the near environment gives rise to spatial images in working memory that continue to represent the spatial layout even after cessation of sensory input. As the observer moves, these spatial images are continuously updated. This research is concerned with (1) whether spatial images of targets are formed when they are sensed using extended touch (i.e., using a probe to extend the reach of the arm) and (2) the accuracy with which such targets are perceived. In Experiment 1, participants perceived the 3-D locations of individual targets from a fixed origin and were then tested with an updating task involving blindfolded walking followed by placement of the hand at the remembered target location. Twenty-four target locations, representing all combinations of two distances, two heights, and six azimuths, were perceived by vision or by blindfolded exploration with the bare hand, a 1-m probe, or a 2-m probe. Systematic errors in azimuth were observed for all targets, reflecting errors in representing the target locations and updating. Overall, updating after visual perception was best, but the quantitative differences between conditions were small. Experiment 2 demonstrated that auditory information signifying contact with the target was not a factor. Overall, the results indicate that 3-D spatial images can be formed of targets sensed by extended touch and that perception by extended touch, even out to 1.75 m, is surprisingly accurate.

A model of motor performance during surface penetration: from physics to voluntary control.

The act of puncturing a surface with a hand-held tool is a ubiquitous but complex motor behavior that requires precise force control to avoid potentially severe consequences. We present a detailed model of puncture over a time course of approximately 1,000 ms, which is fit to kinematic data from individual punctures, obtained via a simulation with high-fidelity force feedback. The model describes puncture as proceeding from purely physically determined interactions between the surface and tool, through decline of force due to biomechanical viscosity, to cortically mediated voluntary control. When fit to the data, it yields parameters for the inertial mass of the tool/person coupling, time characteristic of force decline, onset of active braking, stopping time and distance, and late oscillatory behavior, all of which the analysis relates to physical variables manipulated in the simulation. While the present data characterize distinct phases of motor performance in a group of healthy young adults, the approach could potentially be extended to quantify the performance of individuals from other populations, e.g., with sensory-motor impairments. Applications to surgical force control devices are also considered.

The planar mosaic fails to account for spatially directed action.

Humans' spatial representations enable navigation and reaching to targets above the ground plane, even without direct perceptual support. Such abilities are inconsistent with an impoverished representation of the third dimension. Features that differentiate humans from most terrestrial animals, including raised eye height and arms dedicated to manipulation rather than locomotion, have led to robust metric representations of volumetric space.

PixeLite: A Thin and Wearable High Bandwidth Electroadhesive Haptic Array.

We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes ("pucks") that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 ± 59 µm. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 ± 6 µm. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.

A hierarchical sensorimotor control framework for human-in-the-loop robotic hands.

Human manual dexterity relies critically on touch. Robotic and prosthetic hands are much less dexterous and make little use of the many tactile sensors available. We propose a framework modeled on the hierarchical sensorimotor controllers of the nervous system to link sensing to action in human-in-the-loop, haptically enabled, artificial hands.

Data-Driven Playback of Natural Tactile Texture Via Broadband Friction Modulation.

We used broadband electroadhesion to reproduce the friction force profile measured as a finger slid across a textured surface. In doing so, we were also able to reproduce with high fidelity the skin vibrations characteristic of that texture; however, we found that this did not reproduce the original perception. To begin, the reproduction felt weak. In order to maximize perceptual similarity between a real texture and its friction force playback, the vibratory magnitude of the latter must be scaled up on average ≈ 3X for fine texture and ≈ 5X for coarse texture samples. This additional gain appears to correlate with perceived texture roughness. Additionally, even with optimal scaling and high fidelity playback, subjects could identify which of two reproductions corresponds to a real texture with only 71 % accuracy, as compared to 95 % accuracy when using real texture alternatives. We conclude that while tribometry and vibrometry data can be useful for texture classification, they appear to contribute only partially to texture perception. We propose that spatially distributed excitation of skin within the fingerpad may play an additional key role, and may thus be able to contribute to high fidelity texture reproduction.

The spatial profile of skin indentation shapes tactile perception across stimulus frequencies.

Multiple human sensory systems exhibit sensitivity to spatial and temporal variations of physical stimuli. Vision has evolved to offer high spatial acuity with limited temporal sensitivity, while audition has developed complementary characteristics. Neural coding in touch has been believed to transition from a spatial to a temporal domain in relation to surface scale, such that coarse features (e.g., a braille cell or corduroy texture) are coded as spatially distributed signals, while fine textures (e.g., fine-grit sandpaper) are encoded by temporal variation. However, the interplay between the two domains is not well understood. We studied tactile encoding with a custom-designed pin array apparatus capable of deforming the fingerpad at 5 to 80 Hz in each of 14 individual locations spaced 2.5 mm apart. Spatial variation of skin indentation was controlled by moving each of the pins at the same frequency and amplitude, but with phase delays distributed across the array. Results indicate that such stimuli enable rendering of shape features at actuation frequencies up to 20 Hz. Even at frequencies > 20 Hz, however, spatial variation of skin indentation continues to play a vital role. In particular, perceived roughness is affected by spatial variation within the fingerpad even at 80 Hz. We provide evidence that perceived roughness is encoded via a summary measure of skin displacement. Relative displacements in neighboring pins of less than 10 µm generate skin stretch, which regulates the roughness percept.

A Low-Parameter Rendering Algorithm for Fine Textures.

This paper introduces a novel rendering algorithm for virtual textures, specifically those with characteristic length scales below 1 mm. By leveraging the relatively lossy mode of human tactile perception at this length scale, a virtual texture with wide-band spectral characteristics can be reduced to a spatial sequence of single-frequency texels, where each frequency is pulled stochastically from a distribution. A psychophysical study was conducted to demonstrate that, below a limiting physical texel length, virtual textures defined by identical frequency distributions are perceptually indiscriminable. Additionally, an exploratory study mapped the distribution parameters of the texel-based rendering to spectral characteristics of perceptually similar multi-frequency virtual textures.