Directional remapping in tactile inter-finger apparent motion: a motion aftereffect study.

Tactile motion provides critical information for perception and manipulation of objects in touch. Perceived directions of tactile motion are primarily defined in the environmental coordinate, which means they change drastically with body posture even when the same skin sensors are stimulated. Despite the ecological importance of this perceptual constancy, the sensory processing underlying tactile directional remapping remains poorly understood. The present study psychophysically investigated the mechanisms underlying directional remapping in human tactile motion processing by examining whether finger posture modulates the direction of the tactile motion aftereffect (MAE) induced by inter-finger apparent motions. We introduced conflicts in the adaptation direction between somatotopic and environmental spaces by having participants change their finger posture between adaptation and test phases. In a critical condition, they touched stimulators with crossed index and middle fingers during adaptation but with uncrossed fingers during tests. Since the adaptation effect was incongruent between the somatotopic and environmental spaces, the direction of the MAE reflects the coordinate of tactile motion processing. The results demonstrated that the tactile MAE was induced in accordance with the motion direction determined by the environmental rather than the somatotopic space. In addition, it was found that though the physical adaptation of the test fingers was not changed, the tactile MAE disappeared when the adaptation stimuli were vertically aligned or when subjective motion perception was suppressed during adaptation. We also found that the tactile MAE, measured with our procedure, did not transfer across different hands, which implies that the observed MAEs mainly reflect neural adaptations occurring within sensor-specific, tactile-specific processing. The present findings provide a novel behavioral method to analyze the neural representation for directional remapping of tactile motion within tactile sensory processing in the human brain.

Surface texture can bias tactile form perception.

The sense of touch is believed to provide a reliable perception of the object's properties; however, our tactile perceptions could be illusory at times. A recently reported tactile illusion shows that a raised form can be perceived as indented when it is surrounded by textured areas. This phenomenon suggests that the form perception can be influenced by the surface textures in its adjacent areas. As perception of texture and that of form have been studied independently of each other, the present study examined whether textures, in addition to the geometric edges, contribute to the tactile form perception. We examined the perception of the flat and raised contact surface (3.0 mm width) with various heights (0.1, 0.2, 0.3 mm), which had either textured or non-textured adjacent areas, under the static, passive and active touch conditions. Our results showed that texture decreased the raised perception of the surface with a small height (0.1 mm) and decreased the flat perception of the physically flat surface under the passive and active touch conditions. We discuss a possible mechanism underlying the effect of the textures on the form perception based on previous neurophysiological findings.

Somatotopic dominance in tactile temporal processing.

The sense of touch is initiated by stimulation of peripheral mechanoreceptors, and then the spatio-temporal pattern of the receptors' activation is interpreted by central cortical processing. To explore the tactile central processing, we psychophysically studied human judgments of the temporal relationships between two tactile events occurring at different skin locations. We examined four types of two-point temporal judgments-simultaneity, temporal order, apparent motion, and inter-stimulus interval-which differ from one another in time scale and task requirement. To perform any of the four temporal judgment tasks, the brain has to integrate spatially separated inputs. The main focus of the present study is to examine how the spatial separation affects the temporal judgment tasks. Two spatial coordinates can be defined in touch: the somatotopic coordinate, defined by cortical topography, and the spatiotopic coordinate, defined in the environment. In our experiments, the somatotopic distance was manipulated by stimulating the middle and index fingers of the same hand or different hands (ipsilateral vs. bilateral conditions), while the spatiotopic distance was manipulated by increasing the stimulators' separation under bilateral conditions (bilateral-near vs. bilateral-far conditions). Our results clearly demonstrated that all four of the temporal judgments were significantly affected by the somatotopic distance, but only slightly by the spatiotopic distance. The present results, together with the previous findings, suggest that tactile temporal judgments in a wide range of time scale, from several to several 100 ms, primarily reflect processing at the level of somatotopic representation unless the performance is further constrained by spatial processing.

Haptic localizations for onset and offset of vibro-tactile stimuli are dissociated.

When humans explore the external world, hand and arm movements play important roles. Spatio-temporal arrangements of the environment are perceptually generated mainly by means of the sensory-motor integration of the internal model of these movements with the information obtained during the movements. In order to investigate the mechanisms of this integration process, localization tasks have been studied, and previous studies have suggested that the integration process does not work properly around the time of a hand movement. In particular, when a transient vibro-tactile stimulation is presented before, during, or after a hand movement, the stimulus is systematically mislocalized. However, it is debatable whether the tendency to mislocalize a transient stimulus indicates a general failure of the sensory-motor integration process. Here we investigated the generality of the tendency towards mislocalization by observing haptic localizations to different target types, the onset and offset of continuous vibro-tactile stimuli. We found similar types of mislocalizations in responses to the transient vibration and the onset of a continuous vibration, and a clear difference in the types of mislocalizations in responses to the onset and offset of continuous vibrations.

Telexistence: Enabling Humans to Be Virtually Ubiquitous.

Telecommunication and remote-controlled operations are becoming increasingly common in our daily lives. While performing these operations, ideally users would feel as if they were actually present at the remote sites. However, the present commercially available telecommunication and telepresence systems do not provide the sensation of self-presence or self-existence, and hence, users do not get the feeling of being spatially present or that they are directly performing spatial tasks, rather than simply controlling them remotely. This article describes the TELESAR V telexistence master-slave system that enables a human user to feel present in a remote environment. TELESAR V can transmit not only visual and auditory sensations, but also haptic sensations, which are conveyed using the principle of haptic primary colors.

Perisaccadic perception of continuous flickers.

To realize perceptual space constancy, the visual system compensates for the retinal displacement caused by eye movements. It has been reported that the compensation process does not function perfectly around the time of a saccade--a perisaccadic flash is systematically mislocalized. However, observations made with transient flash stimuli do not necessarily indicate a general perisaccadic failure of space constancy. To investigate how the visual system realizes perisaccadic space constancy for continuous stimuli, we examined the time course of localization for a perisaccadic 500 Hz flicker with systematic variation of the onset timing, the offset timing and the duration. If each flash in the flicker is localized individually in the same way as a single flash, the apparent position and length of the flicker should be predicted from the time course of mislocalization of a perisaccadic flash. However, the results did not support this prediction in many respects. A dot array (of half the length of the retinal image) was perceived when the flicker was presented during a saccade, while only a single dot was perceived when the flicker was presented only before or after the saccade. A flash in a flicker was localized at a different position, depending on the onset timing, the offset timing and the duration of the flicker, even if the flash was presented at the same timing to the saccade. In general, our results support a two-stage localization in which the local geometrical configuration is first generated primarily based on the retinal information, and then localized as a whole in the egocentric or exocentric space. The localization is based on the eye position signal sampled at a time temporally distant from the saccade, which enables precise localization and space constancy for continuous stimuli.

TORNADO: omnistereo video imaging with rotating optics.

One of the key techniques for vision-based communication is omnidirectional stereo (omnistereo) imaging, in which stereoscopic images for an arbitrary horizontal direction are captured and presented according to the viewing direction of the observer. Although omnistereo models have been surveyed in several studies, few omnistereo sensors have actually been implemented. In this paper, a practical method for capturing omnistereo video sequences using rotating optics is proposed and evaluated. The rotating optics system consists of prism sheets, circular or linear polarizing films, and a hyperboloidal mirror. This system has two different modes of operation with regard to the separation of images for the left and right eyes. In the high-speed shutter mode, images are separated using postimage processing, while, in the low-speed shutter mode, the image separation is completed by optics. By capturing actual images, we confirmed the effectiveness of the methods.

Development of anthropomorphic multi-D.O.F. master-slave arm for mutual telexistence.

We developed a robotic arm for a master-slave system to support "mutual telexistence," which realizes remote dexterous manipulation tasks and close physical communication with other people using gestures. In this paper, we describe the specifications of the experimental setup of the master-slave arm to demonstrate the feasibility of the mutual telexistence concept. We developed the master arm of a telexistence robot for interpersonal communication. The last degree of the 7-degree-of-freedom slave arm is resolved by placing a small orientation sensor on the operators arm. This master arm is made light and impedance control is applied in order to grant the operator as much freedom of movement as possible. For this development stage, we compared three control methods and confirmed that the impedance control method is the most appropriate to this system.

Unconscious adaptation: a new illusion of depth induced by stimulus features without depth.

Here, we show a new illusion of depth induced by psychophysical adaptation to dynamic random-dot stereograms (RDS) that are interocularly anticorrelated (i.e., in which the images for the two eyes have reversed contrast polarity with each other). After prolonged viewing of anticorrelated RDS, the presentation of uncorrelated RDS (i.e., in which two images are mutually independent random-dot patterns) produces the sensation of depth, although both anticorrelated and uncorrelated RDSs are perceptually rivalrous with no consistent depth by themselves. Contrary to other aftereffects demonstrated in a number of visual dimensions, including motion, orientation, and disparity, this illusion results from unconscious adaptation; observers are not aware of what they are being adapted to during the process of adaptation. We further demonstrate that this illusion can be predicted from the simulated responses of disparity-selective neurons based on a local filtering model. Model simulations indicate that the inspection of anticorrelated RDS causes the adaptation of all disparity detectors except one sensitive to its disparity; therefore, those selectively unadapted detectors show relatively strong activation in response to the subsequent presentation of uncorrelated RDS and produce depth perception.

An integrative model of binocular vision: a stereo model utilizing interocularly unpaired points produces both depth and binocular rivalry.

Half-occluded points (visible only in one eye) are perceived at a certain depth behind the occluding surface without binocular rivalry, even though no disparity is defined at such points. Here we propose a stereo model that reconstructs 3D structures not only from disparity information of interocularly paired points but also from unpaired points. Starting with an array of depth detection cells, we introduce cells that detect unpaired points visible only in the left eye or the right eye (left and right unpaired point detection cells). They interact cooperatively with each other based on optogeometrical constraints (such as uniqueness, cohesiveness, occlusion) to recover the depth and the border of 3D objects. Since it is contradictory for monocularly visible regions to be visible in both eyes, we introduce mutual inhibition between left and right unpaired point detection cells. When input images satisfy occlusion geometry, the model outputs the depth of unpaired points properly. An interesting finding is that when we input two unmatched images, the model shows an unstable output that alternates between interpretations of monocularly visible regions for the left and the right eyes, thereby reproducing binocular rivalry. The results suggest that binocular rivalry arises from the erroneous output of a stereo mechanism that estimates the depth of half-occluded unpaired points. In this sense, our model integrates stereopsis and binocular rivalry, which are usually treated separately, into a single framework of binocular vision. There are two general theories for what the "rivals" are during binocular rivalry: the two eyes, or representations of two stimulus patterns. We propose a new hypothesis that bridges these two conflicting hypotheses: interocular inhibition between representations of monocularly visible regions causes binocular rivalry. Unlike the traditional eye theory, the level of the interocular inhibition introduced here is after binocular convergence at the stage solving the correspondence problem, and thus open to pattern-specific mechanisms.

Tactile motion aftereffects produced by appropriate presentation for mechanoreceptors.

Tactile motion perception is one of the most important functions for realizing a delicate appreciation of the tactile world. To explore the neural dynamics of motion processing in the brain, the motion adaptation phenomenon can be a useful probe. Tactile motion aftereffects (MAE), however, have not been reported in a reproducible fashion, and the indistinctive outcomes of the previous studies can be ascribed to the non-optimal choice of adapting and testing stimuli. Considering the features of the stimuli used in the studies, the stimuli activated the different mechanoreceptors in the adapting and testing phase. Consequently, we tested tactile MAE using appropriate combinations of adapting and testing stimuli. We used three pins to generate sensation of apparent motion on the finger cushion. They were sequentially vibrated with the frequency of 30 Hz both in adapting and testing phases. It is expected that this procedure ensured stimulation for the same mechanoreceptor (Rapid-Adapting mechanoreceptor) in both the adaptation and test phases. Using this procedure, we found robust tactile MAEs in the various tactile motions such as the short-distance motion within the fingertip, the long-distance motion from the finger base to the fingertip, and the circular motion on the fingertip. Our development of a protocol that reliably produces tactile MAEs will provide a useful psychophysical probe into the neural mechanisms of tactile motion processing.