Haptic discrimination of perturbing fields and object boundaries

Vikram S. Chib, Kevin M Lynch, James L. Patton, Ferdinando Mussa-Ivaldi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Experiments were performed to reveal how humans acquire information about the shape and mechanical properties of surfaces through touch and how this information affects the execution of trajectories over the surface. Subjects were instructed to make reaching movements between points lying on the boundary of a virtual planar disk object of varying stiffness. It was found that subjects' trajectory adaptation was dependent on the stiffness of the object. When the virtual boundary exceeded a threshold stiffness, subjects adapted by learning to produce a smooth trajectory on the object boundary, while at lower stiffness they adapted by recovering their original kinematic pattern of movement in free space. This adaptation suggests the internal representation of two distinct categories through a continuum of force fields: force perturbations and object boundaries. In the first case, the interaction forces are opposed and the trajectory is restored. In the second case, the trajectory is modified so as to reduce the interaction forces.

Original languageEnglish (US)
Title of host publicationProceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004
Pages375-382
Number of pages8
DOIs
StatePublished - Jun 28 2004
EventProceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004 - Chicago, IL, United States
Duration: Mar 27 2004Mar 28 2004

Publication series

NameProceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS

Other

OtherProceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004
CountryUnited States
CityChicago, IL
Period3/27/043/28/04

ASJC Scopus subject areas

  • Engineering(all)

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    Chib, V. S., Lynch, K. M., Patton, J. L., & Mussa-Ivaldi, F. (2004). Haptic discrimination of perturbing fields and object boundaries. In Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004 (pp. 375-382). (Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS). https://doi.org/10.1109/HAPTIC.2004.1287224