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Journal ArticleDOI

Hand movements: a window into haptic object recognition.

01 Jul 1987-Cognitive Psychology (Cogn Psychol)-Vol. 19, Iss: 3, pp 342-368
TL;DR: Two experiments establish links between desired knowledge about objects and hand movements during haptic object exploration, and establish that in free exploration, a procedure is generally used to acquire information about an object property, not because it is merely sufficient, butBecause it is optimal or even necessary.
About: This article is published in Cognitive Psychology.The article was published on 1987-07-01. It has received 1723 citations till now. The article focuses on the topics: Haptic perception & Haptic technology.
Citations
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Proceedings ArticleDOI
27 Apr 2013
TL;DR: A study exploring participants' verbalizations of their tactile experiences across two modulated tactile stimuli related to two important mechanoreceptors in the human hand proposes 14 categories for a human-experiential vocabulary based on the categorization of the findings.
Abstract: A common problem with designing and developing applications with tactile interfaces is the lack of a vocabulary that allows one to describe or communicate about haptics. Here we present the findings from a study exploring participants' verbalizations of their tactile experiences across two modulated tactile stimuli (16Hz and 250Hz) related to two important mechanoreceptors in the human hand. The study, with 14 participants, applied the explicitation interview technique to capture detailed descriptions of the diachronic and synchronic structure of tactile experiences. We propose 14 categories for a human-experiential vocabulary based on the categorization of the findings and tie them back to neurophysiological and psychophysical data on the human hand. We finally discuss design opportunities created through this experiential understanding in relation to the two mechanoreceptors.

1,602 citations


Cites background from "Hand movements: a window into hapti..."

  • ...We did this as previous research has shown that people use different kinds of exploratory hand movements to experience tactile stimuli [21]....

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Journal ArticleDOI
TL;DR: This article explored the differences between the representations of objects and places in English and other languages, and suggested that there is a tendency for languages to level out geometric detail from both object and place representations, leading to a non-linguistic disparity between representations of what and where.
Abstract: Fundamental to spatial knowledge in all species are the representations underlying object recognition, object search, and navigation through space. But what sets humans apart from other species is our ability to express spatial experience through language. This target article explores the language of objects and places, asking what geometric properties are preserved in the representations underlying object nouns and spatial prepositions in English. Evidence from these two aspects of language suggests there are significant differences in the geometric richness with which objects and places are encoded. When an object is named (i.e., with count nouns), detailed geometric properties – principally the object's shape (axes, solid and hollow volumes, surfaces, and parts) – are represented. In contrast, when an object plays the role of either “figure” (located object) or “ground” (reference object) in a locational expression, only very coarse geometric object properties are represented, primarily the main axes. In addition, the spatial functions encoded by spatial prepositions tend to be nonmetric and relatively coarse, for example, “containment,” “contact,” “relative distance,” and “relative direction.” These properties are representative of other languages as well. The striking differences in the way language encodes objects versus places lead us to suggest two explanations: First, there is a tendency for languages to level out geometric detail from both object and place representations. Second, a nonlinguistic disparity between the representations of “what” and “where” underlies how language represents objects and places. The language of objects and places converges with and enriches our understanding of corresponding spatial representations.

879 citations

Journal ArticleDOI
TL;DR: This tutorial focuses on the sense of touch within the context of a fully active human observer and describes 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.
Abstract: 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.

822 citations


Cites background from "Hand movements: a window into hapti..."

  • ...Lederman and Klatzky (1987) have described a systematic relationship between exploration and object properties in the form of a set of exploratory procedures (EPs), of which the most intensively investigated are depicted in Figure 6....

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  • ...…the computation of perceived roughness at the macro- and microscale, respectively (Bensmaïa & Hollins, 2005; D. T. Blake, Hsaio, & Johnson, 1997). costs and Benefits of exploratory Procedures The various EPs have different costs and benefits (Klatzky & Lederman, 1993; Lederman & Klatzky, 1987)....

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Journal ArticleDOI
TL;DR: By stimulating the median and ulnar nerve fascicles using transversal multichannel intrafascicular electrodes, according to the information provided by the artificial sensors from a hand prosthesis, physiologically appropriate sensory information can be provided to an amputee during the real-time decoding of different grasping tasks to control a dexterous hand prosthetic.
Abstract: Hand loss is a highly disabling event that markedly affects the quality of life. To achieve a close to natural replacement for the lost hand, the user should be provided with the rich sensations that we naturally perceive when grasping or manipulating an object. Ideal bidirectional hand prostheses should involve both a reliable decoding of the user's intentions and the delivery of nearly "natural" sensory feedback through remnant afferent pathways, simultaneously and in real time. However, current hand prostheses fail to achieve these requirements, particularly because they lack any sensory feedback. We show that by stimulating the median and ulnar nerve fascicles using transversal multichannel intrafascicular electrodes, according to the information provided by the artificial sensors from a hand prosthesis, physiologically appropriate (near-natural) sensory information can be provided to an amputee during the real-time decoding of different grasping tasks to control a dexterous hand prosthesis. This feedback enabled the participant to effectively modulate the grasping force of the prosthesis with no visual or auditory feedback. Three different force levels were distinguished and consistently used by the subject. The results also demonstrate that a high complexity of perception can be obtained, allowing the subject to identify the stiffness and shape of three different objects by exploiting different characteristics of the elicited sensations. This approach could improve the efficacy and "life-like" quality of hand prostheses, resulting in a keystone strategy for the near-natural replacement of missing hands.

791 citations


Cites background from "Hand movements: a window into hapti..."

  • ...The patient recognized the object stiffness in less than 3 s, which we believe is compatible with real-life applications (26)....

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Journal ArticleDOI
Esther Thelen1
TL;DR: In this paper, a multidisciplinary approach is proposed to understand the processes by which infants and children learn to control their bodies, emphasizing the multicausal, fluid, contextual, and self-organizing nature of developmental change.
Abstract: The study of the acquisition of motor skills, long moribund in developmental psychology, has seen a renaissance in the last decade. Inspired by contemporary work in movement science, perceptual psychology, neuroscience, and dynamic systems theory, multidisciplinary approaches are affording new insights into the processes by which infants and children learn to control their bodies. In particular, the new synthesis emphasizes the multicausal, fluid, contextual, and self-organizing nature of developmental change, the unity of perception, action, and cognition, and the role of exploration and selection in the emergence of new behavior. Studies are concerned less with how children perform and more with how the components cooperate to produce stability or engender change. Such process approaches make moot the traditional nature-nurture debates.

705 citations

References
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Journal ArticleDOI
J. R. Napier1
TL;DR: It is shown that movements of the hand consist of two basic patterns of movements which are termed precision grip and power grip, which appear to cover the whole range of prehensile activity of the human hand.
Abstract: 1. The prehensile movements of the hand as a whole are analysed from both an anatomical anda functional viewpoint. 2. It is shown that movements of the hand consist of two basic patterns of movements which are termed precision grip and power grip. 3. In precision grip the object is pinched between the flexor aspects of the fingers and that of the opposing thumb. 4. In power grip the object is held as in a clamp between the flexed fingers and the palm, counter pressure being applied by the thumb lying more or less in the plane of the palm. 5. These two patterns appear to cover the whole range of prehensile activity of the human hand.

1,446 citations


"Hand movements: a window into hapti..." refers background in this paper

  • ...Furthermore, the considerable motor skills exhibited by the hand during prehensile and manipulative activity have also been documented (e.g., Gentner, 1983; Jeannerod & Biguer, 1982; Napier, 1956)....

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Journal ArticleDOI
TL;DR: Preliminary results indicate that the cross-modal matching of these novel preceptions is possible even for a naive observer, and that practice can bring about errorless judgments in all observers so far tested.
Abstract: ed by solid geometry (slant, curvature, edge, corner) did not seem any more complex to introspection than the solely visible features of things abstracted by plane geometry (triangle, square, circle). A new set of shapes has now been devised for the study of object-perception by active touch. They consist of ten solid sculptures, or free-forms, made of plastic, the surfaces being curved, with no planes, edges, or corners. They are intended to be felt with two hands (and are called "feelies"). Approximately one-half of each surface (the "rear") is convex; the other half (the "front") consists of six convexities with intermediate saddles or concavities. In general, there are five protuberances around a central protuberance, but no object is symmetrical, either radially or bilaterally. They cannot, therefore, be distinguished from one another by counting. Each is readily discriminated from every other by vision of the "front" surface. They are also mutually distinguishable by feeling, although with some error and hesitation for an unpracticed observer. Replicas of the ten objects are available, made from the same molds. It is therefore possible to present one object to the hands and the same or a different object to the eyes simultaneously. Preliminary results indicate that the cross-modal matching of these novel preceptions is possible even for a naive observer, and that practice can bring about errorless judgments in all observers so far tested. Passivity and activity in touch and vision. In passive touch the individual makes no voluntary movements. Similarly, in passive vision he makes no eye movements, which means that he must voluntarily fixate his eyes on a point specified by the experimenter. Neither state is natural to an individual. In a tactual situation, the observer will explore with his fingers unless prevented and, in a visual situation, he will explore the focussable light, fixating, accommodating, converging and pursuing. Both senses are normally active. The passive stimulation of the skin or the retina is necessary for the study of the receptorcells in the skin or the retina, but the experiences resulting are atypical. In active touching and looking the observer reports experiences of a quite different order. They correspond to

1,267 citations


"Hand movements: a window into hapti..." refers background in this paper

  • ...But as Gibson (1962) has pointed out, contact between skin and object tends to yield experiences of objects and surfaces only when we purposively explore the external world....

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16 Feb 1968

803 citations


"Hand movements: a window into hapti..." refers background in this paper

  • ...In contrast, a haptic glance is usually confined to a single object; moreover, in that instant, the object is rarely accessible in its entirety to the fingertips, which may be considered the skin’s foveae (Weinstein, 1968)....

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Journal ArticleDOI
TL;DR: Subjects' eye movements were recorded while they viewed and then recognized patterns to reveal the sequence of internal processing, consistent with a serial theory of pattern learning and recognition previously proposed.

548 citations


"Hand movements: a window into hapti..." refers background in this paper

  • ...Similar arguments have been made for using eye movements to identify the processes that underlie visual pattern recognition (Noton & Stark, 1971)....

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Journal ArticleDOI
TL;DR: 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.
Abstract: 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.

522 citations


"Hand movements: a window into hapti..." refers background in this paper

  • ...Our previous work (Klatzky et al., 1985) indicates that object naming (at...

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  • ...Previous work (Klatzky et al., 1985) identified dimensions that subjects reported having used to categorize objects; these specified dimensions are progenitors of the present EP classes....

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  • ...Our previous work (Klatzky et al., 1985) indicates that object naming (at HAPTIC EXPLORATION AND OBJECT RECOGNITION 367 the “basic” level) based on haptic exploration can be accomplished very quickly from relatively crude apprehension of an object’s dimensions, often by means of just a single grasp....

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