Effect of compliance on haptic perception of curvature

The haptic sense of geometric properties such as the curvature of a contour is derived from somatosensory cues about the motions and forces experienced during exploratory actions. This study addressed the question of whether compliance, the relationship between force and displacement, influences haptic perception of curvature. Subjects traced a curved 30?cm long compliant contour by grasping the handle of a manipulandum and reported whether the contour curved towards or away from them. The contour at which there was equal probability of responding either way was taken to represent one that was sensed as being straight. The compliance of the contour was varied, being constant, greatest in the middle or greatest at the ends. Subjects exhibited a bias in what they sensed to be a straight edge. However, the actual handpath that was judged to be straight did not vary across the three compliance profiles. Our results rule out a hypothetical strategy in which an intended motion is planned and the actual trajectory is then inferred by sensing force feedback. Another strategy in which the force against the contour is controlled and the handpath is inferred from proprioceptive feedback is more consistent with the observations.     

Vibration influences haptic perception of surface compliance during walking

Background

The haptic perception of ground compliance is used for stable regulation of dynamic posture and the control of locomotion in diverse natural environments. Although rarely investigated in relation to walking, vibrotactile sensory channels are known to be active in the discrimination of material properties of objects and surfaces through touch. This study investigated how the perception of ground surface compliance is altered by plantar vibration feedback.

Methodology/Principal Findings

Subjects walked in shoes over a rigid floor plate that provided plantar vibration feedback, and responded indicating how compliant it felt, either in subjective magnitude or via pairwise comparisons. In one experiment, the compliance of the floor plate was also varied. Results showed that perceived compliance of the plate increased monotonically with vibration feedback intensity, and depended to a lesser extent on the temporal or frequency distribution of the feedback. When both plate stiffness (inverse compliance) and vibration amplitude were manipulated, the effect persisted, with both factors contributing to compliance perception. A significant influence of vibration was observed even for amplitudes close to psychophysical detection thresholds.

Conclusions/Significance

These findings reveal that vibrotactile sensory channels are highly salient to the perception of surface compliance, and suggest that correlations between vibrotactile sensory information and motor activity may be of broader significance for the control of human locomotion than has been previously acknowledged.     

Noninformative vision improves haptic spatial perception

Previous studies have attempted to map somatosensory space via haptic matching tasks and have shown that individuals make large and systematic matching errors, the magnitude and angular direction of which vary systematically through the workspace. Based upon such demonstrations, it has been suggested that haptic space is non-Euclidian. This conclusion assumes that spatial perception is modality specific, and it largely ignores the fact that tactile matching tasks involve active, exploratory arm movements. Here we demonstrate that, when individuals match two bar stimuli (i.e., make them parallel) in circumstances favoring extrinsic (visual) coordinates, providing noninformative visual information significantly increases the accuracy of haptic perception. In contrast, when individuals match the same bar stimuli in circumstances favoring the coding of movements in intrinsic (limb-based) coordinates, providing identical noninformative visual information either has no effect or leads to the decreased accuracy of haptic perception. These results are consistent with optimal integration models of sensory integration in which the weighting given to visual and somatosensory signals depends upon the precision of the visual and somatosensory information and provide important evidence for the task-dependent integration of visual and somatosensory signals during the construction of a representation of peripersonal space.     

How haptic size sensations improve distance perception

Determining distances to objects is one of the most ubiquitous perceptual tasks in everyday life. Nevertheless, it is challenging because the information from a single image confounds object size and distance. Though our brains frequently judge distances accurately, the underlying computations employed by the brain are not well understood. Our work illuminates these computions by formulating a family of probabilistic models that encompass a variety of distinct hypotheses about distance and size perception. We compare these models' predictions to a set of human distance judgments in an interception experiment and use Bayesian analysis tools to quantitatively select the best hypothesis on the basis of its explanatory power and robustness over experimental data. The central question is: whether, and how, human distance perception incorporates size cues to improve accuracy. Our conclusions are: 1) humans incorporate haptic object size sensations for distance perception, 2) the incorporation of haptic sensations is suboptimal given their reliability, 3) humans use environmentally accurate size and distance priors, 4) distance judgments are produced by perceptual "posterior sampling". In addition, we compared our model's estimated sensory and motor noise parameters with previously reported measurements in the perceptual literature and found good correspondence between them. Taken together, these results represent a major step forward in establishing the computational underpinnings of human distance perception and the role of size information.     

人手指柔性触觉感知的记忆特性

触觉再现技术是当前虚拟现实和远程操作机器人领域的前沿,而柔性触觉则是其重要的研究内容。触觉再现接口的设计需要充分研究人手的触觉感知特性。本文在柔性触觉装置上研究了人手指柔性触觉记忆特性。先通过回忆性实验确定人手指的柔性触觉记忆容量,在记忆容量范围内又进行了再认性实验,对人手指的柔性触觉记忆反应时间进行分析。本实验方法简单有效,得出的结论不仅可以用来改进触觉再现装置的设计,而且为触觉再现技术的研究提供了生理学依据。     

Haptic perception of object curvature in Parkinson's disease

Background

The haptic perception of the curvature of an object is essential for adequate object manipulation and critical for our guidance of actions. This study investigated how the ability to perceive the curvature of an object is altered by Parkinson''s disease (PD).

Methodology/Principal Findings

Eight healthy subjects and 11 patients with mild to moderate PD had to judge, without vision, the curvature of a virtual “box” created by a robotic manipulandum. Their hands were either moved passively along a defined curved path or they actively explored the curved curvature of a virtual wall. The curvature was either concave or convex (bulging to the left or right) and was judged in two locations of the hand workspace–a left workspace location, where the curved hand path was associated with curved shoulder and elbow joint paths, and a right workspace location in which these joint paths were nearly linear. After exploring the curvature of the virtual object, subjects had to judge whether the curvature was concave or convex. Based on these data, thresholds for curvature sensitivity were established. The main findings of the study are: First, 9 out 11 PD patients (82%) showed elevated thresholds for detecting convex curvatures in at least one test condition. The respective median threshold for the PD group was increased by 343% when compared to the control group. Second, when distal hand paths became less associated with proximal joint paths (right workspace), haptic acuity was reduced substantially in both groups. Third, sensitivity to hand trajectory curvature was not improved during active exploration in either group.

Conclusion/Significance

Our data demonstrate that PD is associated with a decreased acuity of the haptic sense, which may occur already at an early stage of the disease.     

Visual perception of surface curvature. The spin variation and its physiological implications

In the context of the models of structure from motion visual processing, we propose that the optic-flow field is a source of information for the perception of the curvature of a smooth surface in motion. In particular, it is shown how the spin variation (SV), a second spatial derivative of the retinal velocity field, is mathematically related to the curvature of the surface. Under the hypothesis that the visual system relies on SV to analyse the structure of a moving surface, a neural scheme for SV detection is proposed and psychophysical predictions are developed. Results obtained on artificial images show that the SV scheme presents a rather weak sensitivity to noise in conditions of low image velocity.     

Effect of trabecular curvature on the stiffness of trabecular bone

Simplified structural models of trabecular bone have been used to model various forms of trabecular variability. The structural effects of variability of direction, length and thickness of the trabeculae have been studied using 'lattice-type' finite element models. However, many of the trabeculae are not perfectly straight, and have a small degree of curvature. The objective of this study is to quantify the influence of small curvatures of the trabeculae on the effective modulus of trabecular bone, in the principal material direction. An analytical analysis of the effect of curvature on a single trabecula is performed, utilizing the concept of cellular-solid models. Closed-form expressions are derived for the effect of curvature on the flexibility in the principal material direction. For comparison, expressions are derived for the flexibility of a straight oblique element, representing angular variability. A quantitative comparison is presented, which is dependent on the thickness of the trabeculae. It was found that small curvatures have a large effect on the stiffness of the trabecular structure. This effect is largest for thin trabeculae, and decreases for thick trabeculae. The stiffness of the trabecular structure can be reduced by a factor of up to four for thin trabeculae and up to two for thick trabeculae, even for small curvatures. The flexibility of curved elements is found to be larger than the flexibility of oblique elements with similar eccentricities. Thus it seems that curvature might play a role in determining the effective modulus of trabecular bone.     

Effect of gas density on dynamic pulmonary compliance.

We measured dynamic pulmonary compliance (Cdyn( in nine asymptomatic young men breathing gases of different density. When corrected for gas inertia, Cdyn was significantly lower during dense gas breathing (sulfur hexafluoride) than during air breathing. At higher breathing frequencies (60-90 breaths/min), Cdyn was greater on helium than on air. Static compliance was not different while breathing the three gas mixtures. These results may be explained by a density dependence of airways resistance in parallel lung units which contribute to frequency dependence of dynamic compliance. We conclude that most frequency-dependent behavior occurs among intraregional lung units subtended from airways between segmental bronchi and peripheral airways.     

Effect of bilayer membrane curvature on activity of phosphatidylcholine exchange protein

Effect of bilayer membrane curvature of substrate phosphatidylcholine and inhibitor phosphatidylserine on the activity of phosphatidylcholine exchange protein has been studied by measuring transfer of spin-labeled phosphatidylcholine between vesicles, vesicles and liposomes, and between liposomes. The transfer rate between vesicles was more than 100 times larger than that between vesicles and liposomes. The transfer rate between liposomes was still smaller than that between vesicles and liposomes and nearly the same as that in the absence of exchange protein. The markedly enhanced exchange with vesicles was ascribed to the asymmetric packing of phospholipid molecules in the outer layer of the highly curved bilayer membrane. The inhibitory effect of phosphatidylserine was also greatly dependent on the membrane curvature. The vesicles with diameter of 17 nm showed more than 20 times larger inhibitory activity than those with diameter of 22 nm. The inhibitory effect of liposomes was very small. The size dependence was ascribed to stronger binding of the exchange protein to membranes with higher curvatures. The protein-mediated transfer from vesicles to spiculated erythrocyte ghosts was about four times faster than that to cup-shaped ghosts. This was ascribed to enhanced transfer to the highly curved spiculated membrane sites rather than greater mobility of phosphatidylcholine in the spiculated ghost membrane.     

Effect of the magnetic field curvature on magnetic islands in tokamaks

The effect of the magnetic field curvature on magnetic islands in a tokamak is analyzed. It is demonstrated that the original investigation of this effect by Kotschenreuther et al. (1985) is inconsistent: on the one hand, the authors made the correct assumption that this is an ideal effect and, on the other hand, they described it in terms of the parameters characteristic of the “resistive ordering” approach, which is incompatible with the ideal approximation. More recent studies of the magnetic curvature effect have produced further ambiguities; as a result, a branch of the theory of magnetic islands has arisen that is based on the supposition that the effect under discussion can be described in terms of the Glasser-Greene-Johnson parameter D_R. This branch is shown to be erroneous, because the parameter D_R describes the plasma response to magnetic field perturbations on spatial scales of about the dimension of the linear resistive layer, while the characteristic spatial scale of the magnetic islands is much longer. It is concluded that the correct theory developed here for the magnetic curvature effect makes more optimistic predictions about its stabilizing role.     

Effect of atelectasis and surface tension on pulmonary vascular compliance

The effects of atelectasis and surface tension on the vascular volume and compliance in an isolated perfused dog lung lobe were studied using vascular occlusion and indicator-dilution methods. Measurements were made during atelectasis and again after the lobes were inflated with either a gas mixture (air) or 0.9% saline. Inflation with air resulted in a 20% increase in vascular volume (P less than 0.02), whereas saline inflation had no effect on vascular volume. Inflation with either air or saline increased static vascular compliance by approximately 58% (P less than 0.001) and dynamic vascular compliance by approximately 85% (P less than 0.001). The larger dynamic compliance in the inflated lobes appears to have been mainly due to a larger microvascular compliance. The results suggest that atelectasis can result in a stiffer pulmonary capillary bed. This effect appears to be due primarily to the reconfiguration of the lung tissue structure, because replacing the air with an incompressible fluid did not have the same effect.     

Effect of bronchial smooth muscle contraction on lung compliance.

Lung compliance is generally considered to represent a blend of surface and tissue forces, and changes in compliance in vivo are commonly used to indicate changes in surface forces. There are, however, theoretical arguments that would allow contraction of airway smooth muscle to affect substantially the elasticity of the lung. In the present study we evaluated the role of conducting airway contraction on lung compliance in vivo by infusing methacholine (MCh) at a constant rate into the bronchial circulation. With a steady-state MCh infusion of 2.4 micrograms/min into the bronchial perfusate (perfusate concentration = 0.7 microM), there was an approximate doubling of lung resistance and a 50% fall in dynamic compliance. There were also significant decreases in chord compliance measured from the quasi-static pressure-volume curves and in total lung capacity and residual volume. When the same infusion rate was administered into the pulmonary artery, no changes in lung mechanics were observed. These results indicate that the conducting airways may have a major role in regulating lung elasticity. This linkage between airway contraction and lung compliance may account for the common observation that pharmacological challenges given to the lung usually result in similar changes in lung compliance and airway conductance. Our results also suggest the possibility that the lung tissue resistance, which dominates the measurement of lung resistance in many species, might in fact reflect the physical properties of conducting airways.     

Effect of passive myocardium on the compliance of porcine coronary arteries

The objective of this study was to determine the effect of passive myocardium on the coronary arteries under distension and compression. To simulate distension and compression, we placed a diastolic-arrested heart in a Lucite box, where both the intravascular pressure and external (box) pressure were varied independently and expressed as a pressure difference (DeltaP = intravascular pressure - box pressure). The DeltaP-cross-sectional area relationship of the first several generations of porcine coronary arteries and the DeltaP-volume relationship of the coronary arterial tree (vessels >0.5 mm in diameter) were determined using a video densitometric technique in the range of +150 to -150 mmHg. The vasodilated left anterior descending (LAD) coronary artery of six KCl-arrested hearts were perfused with iodine and 3% Cab-O-Sil. The intravascular pressure was varied in a triangular pattern, whereas the absolute cross-sectional area of each vessel and the total arterial volume were calculated using video densitometry under different box pressures (0, 50, 100, and 150 mmHg). In the range of positive DeltaP, we found that the compliance of the proximal LAD artery in situ (4.85 +/- 3.8 x 10-3 mm2/mmHg) is smaller than that of the same artery in vitro (16.5 +/- 6 x 10-3 mm2/mmHg; P = 0.009). Hence, the myocardium restricts the compliance of the epicardial artery under distension. In the negative DeltaP range, the LAD artery does not collapse, whereas the same vessel readily collapses when tested in vitro. Hence, we conclude that myocardial tethering prevents collapse of large blood vessel under compression.