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.     

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 after effect during human walking

Muscular vibration effects could usually persist after the end of the stimulation. The extinction of this after-effect was studied during human walk. Six subjects performed a locomotor task (six successive steps) under control, and after bilateral Achilles' tendon vibration (70 Hz). The step frequency was enhanced (diminution of the stance phase duration) whereas the stride length tended to decrease. The relative duration of the stance phase reached back normal values with repetitions. These results demonstrated that vibration-induced effects persevere after the end of the stimulation. In addition, owing to the dynamic of the re-adaptation process, they suggested that the muscular proprioceptive input could participate in both maintaining and regulating the locomotor rhythm.     

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.     

Trunk extensor fatigue influences trunk muscle activities during walking gait

Prolonged physical activities may introduce risks for low back injury due to the adapted neuromuscular response of the system once neuromuscular fatigue is present. Trunk extensor muscles were fatigued in fourteen healthy women to observe myoelectric changes in the trunk musculature during walking trials performed before and after fatigue conditions. Sub-maximal efforts at 50% and 70% maximal trunk extension effort were performed until the pre-determined levels could not be sustained. Surface electromyography (EMG) from lumbar paraspinal (LP), rectus abdominis (RA), external oblique (EO) muscles were recorded during fatigue conditions and pre and post fatigue walking trials. Infrared sensors were used to time participants as they walked. Footswitches attached to the right heel were used to record heel contacts, and were time synchronized with the EMG signals. LP and RA activity burst peaks shifted in time at contralateral heel contacts (p < 0.05) in the 70% condition, while RA amplitude increased (p < 0.05) and EO burst peak temporal shifts (p < 0.05) were present in the 50% condition. Reduced ability of the paraspinal muscles to support the trunk after fatigue onset may be a contributing factor, lending to diminished spine stiffness in attenuating ground reaction forces.     

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。     

Mapping of surface area 'containment' of the femoral head during walking

This note describes a mathematical method for the calculation of surface area of the femoral head covered ('contained') by the acetabulum as a time-dependent function. It uses displacement vectors from the center of rotation of the hip joint to the femoral joint surface, and rotates these vectors in small increments to simulate the desired motion. At each interval, the vectors are tested to determine whether they lie within the coverage area of the acetabulum. The result is a containment density plot which displays coverage area as a function of time. The general method is used in a variety of clinically important situations, and an example of its use in the study of abduction bracing is described.     

Knee joint kinematics during walking influences the spatial cartilage thickness distribution in the knee

The regional adaptation of knee cartilage morphology to the kinematics of walking has been suggested as an important factor in the evaluation of the consequences of alteration in normal gait leading to osteoarthritis. The purpose of this study was to investigate the association of spatial cartilage thickness distributions of the femur and tibia in the knee to the knee kinematics during walking. Gait data and knee MR images were obtained from 17 healthy volunteers (age 33.2 ± 9.8 years). Cartilage thickness maps were created for the femoral and tibial cartilage. Locations of thickest cartilage in the medial and lateral compartments in the femur and tibia were identified using a numerical method. The flexion-extension (FE) angle associated with the cartilage contact regions on the femur, and the anterior-posterior (AP) translation and internal-external (IE) rotation associated with the cartilage contact regions on the tibia at the heel strike of walking were tested for correlation with the locations of thickest cartilage. The locations of the thickest cartilage had relatively large variation (SD, 8.9°) and was significantly associated with the FE angle at heel strike only in the medial femoral condyle (R(2)=0.41, p<0.01). The natural knee kinematics and contact surface shapes seem to affect the functional adaptation of knee articular cartilage morphology. The sensitivity of cartilage morphology to kinematics at the knee during walking suggests that regional cartilage thickness variations are influenced by both loading and the number of loading cycles. Thus walking is an important consideration in the analysis of the morphological variations of articular cartilage, since it is the dominant cyclic activity of daily living. The sensitivity of cartilage morphology to gait kinematics is also important in understanding the etiology and pathomechanics of osteoarthritis.     

Foot kinematics during walking measured using bone and surface mounted markers

The aim was to compare kinematic data from an experimental foot model comprising four segments ((i) heel, (ii) navicular/cuboid (iii) medial forefoot, (iv) lateral forefoot), to the kinematics of the individual bones comprising each segment. The foot model was represented using two different marker attachment protocols: (a) markers attached directly to the skin; (b) markers attached to rigid plates mounted on the skin. Bone data were collected for the tibia, talus, calcaneus, navicular, cuboid, medial cuneiform and first and fifth metatarsals (n=6). Based on the mean differences between the three data sets during stance, the differences between any two of the three kinematic protocols (i.e. bone vs skin, bone vs plate, skin vs plate) were >3 degrees in only 35% of the data and >5 degrees in only 3.5% of the data. However, the maximum difference between any two of the three protocols during stance was >3 degrees in 100% of the data, >5 degrees in 73% of the data and >8 degrees in 23% of the data. Differences were greatest for motion of the combined navicular/cuboid relative to the calcaneus and the medial forefoot segment relative to the navicular/cuboid. The differences between the data from the skin and plate protocols were consistently smaller than differences between either protocol and the kinematic data for each bone comprising the segment. The pattern of differences between skin and plate protocols and the actual bone motion showed no systematic pattern. It is unlikely that one rigid body foot model and marker attachment approach is always preferable over another.     

Reliability of surface electromyographic recordings during walking in individuals with knee osteoarthritis

To determine test–retest reliability of a surface electromyographic protocol designed to measure knee joint muscle activation during walking in individuals with knee osteoarthritis (OA). Twenty-one individuals with moderate medial compartment knee OA completed two gait data collections separated by approximately 1 month. Using a standardized protocol, surface electromyograms from rectus femoris plus lateral and medial sites for the gastrocnemii, vastii and hamstring muscles were recorded during walking. After full-wave rectification and low pass filtering, time and amplitude normalized (percent of maximum) waveforms were calculated. Principal component analysis (PP-scores) and co-contraction indices (CCI) were calculated from the waveforms. Intraclass correlation coefficients (ICC_2,k) were calculated for PP-scores and CCI’s. No differences in walking speed, knee muscle strength and symptoms were found between visits (p > 0.05). The majority of PP-scores (17 of 21) and two of four CCIs demonstrated ICC_2,k values greater than 0.81. Remaining PP-scores and CCIs had ICC_2,k values between 0.61 and 0.80. The results support that reliable EMG characteristics can be captured from a moderate knee OA patient population using a standardized protocol.     

Stereoscopic surface perception

Physiological, computational, and psychophysical studies of stereopsis have assumed that the perceived surface structure of binocularly viewed images is primarily specified by the pattern of binocular disparities in the two eyes' views. A novel set of stereoscopic phenomena are reported that demonstrate the insufficiency of this view. It is shown that the visual system computes the contrast relationships along depth discontinuities to infer the depth, lightness, and opacity of stereoscopically viewed surfaces. A novel theoretical framework is introduced to explain these results. It is argued that the visual system contains mechanisms that enforce two principles of scene interpretation: a generic view principle that determines qualitative scene geometry, and anchoring principles that determine how image data are quantitatively partitioned between different surface attributes.     

Temperature influences walking speed and walking activity of Trichogramma brassicae (Hym., Trichogrammatidae)

Walking speeds and walking activities (walking time divided by total time) of Trichogramma brassicae were determined at 12, 16, 20 and 25°C. Walking speed was measured during a 5-min period, and walking activity over a 4-day period. Both walking speed and walking activity were strongly influenced by temperature. Walking speed increased linearly with the temperature and was twice as high at 20 as at 12°C. At 25°C, walking activity was high during the whole day, at 20 and 16°C it decreased during the afternoon, whereas at 12°C the wasps became most active only at noon or later. At low temperatures, there was a strong individual variation in walking activity. At 25°C, T. brassicae was active most of the time, so the area searched per time unit can only increase at temperatures above 25°C if walking speed increases. At temperatures below 20°C, searching was more restricted by low walking activity than by low walking speed. Even disregarding other effects of temperature, the reduction in walking speed and walking activity at suboptimal temperatures means that T. brassicae can only search half of the area at 20°C, and only one-seventh at 15°C that it can search at 25°C.     

Nonvisual motor training influences biological motion perception

Experimental evidence suggests a link between perception and the execution of actions . In particular, it has been proposed that motor programs might directly influence visual action perception . According to this hypothesis, the acquisition of novel motor behaviors should improve their visual recognition, even in the absence of visual learning. We tested this prediction by using a new experimental paradigm that dissociates visual and motor learning during the acquisition of novel motor patterns. The visual recognition of gait patterns from point-light stimuli was assessed before and after nonvisual motor training. During this training, subjects were blindfolded and learned a novel coordinated upper-body movement based only on verbal and haptic feedback. The learned movement matched one of the visual test patterns. Despite the absence of visual stimulation during training, we observed a selective improvement of the visual recognition performance for the learned movement. Furthermore, visual recognition performance after training correlated strongly with the accuracy of the execution of the learned motor pattern. These results prove, for the first time, that motor learning has a direct and highly selective influence on visual action recognition that is not mediated by visual learning.     

A quantitative model of walking incorporating central and peripheral influences

Using the experimental results of Cruse and Saxler (1980a, b) and other authors (Graham, 1972; Pearson, 1972; Bässler, 1977, 1979) a quantitative model is developed in order to describe the behaviour of the systems controlling the leg movements of a walking insect. The whole model consists of six subsystems each of which controls the movement of an individual leg. The single subsystem (Fig. 1) consists of a central part which can assume two modes (protraction, retraction) the transition between which can be controlled by sensory influence. The central part produces the reference input for a feedback loop which controls the leg position. The reference input is however also determined by influences from other subsystems. Four different types of such connections are assumed to exist between the subsystems. Two of these produce alternating (t1, t3), two others in phase coupling (t2, t4) between the subsystems to be connected. These connections can transfer information originating from the central part as well as from the periphery of other subsystems. The model is capable of describing either quantitatively or qualitatively the experimental results of Cruse and Saxler (1980a, b) (see Figs. 3 and 4). In addition it is capable of describing the results of other authors, e.g. the temporal leg coordination of the free walking animal (Graham, 1972).Supported by DFG (Cr 58/1)     

Methods of resolution for haptic assistance during catheterization]

During catheterization navigation within the patient is mainly dependent on a live x-ray image on the screen. Although methods for 3D visualisation and remote navigation of the catheter are discussed and tested still precise positioning is merely the result of intense training and a high skill and level of training of the performing surgeon. This article refers to a system which can be considered as an add-on for existing procedures of catheterization. It compromises of a miniaturised force sensor located at the tip of guide-wires whose prototype is shown here. The measured forces will be presented to the surgeon amplified by an external actuator described in this article. As a result a haptic perception of the forces between the tip of the guide-wire and the vessels walls will be available and enable the surgeon to gain an impression which is comparable to palpation of living vessels from the inside     

Comparison of EMG signal of the flexor hallucis longus recorded using surface and intramuscular electrodes during walking

The purpose of this study was to compare the use of intramuscular (iEMG) and surface (sEMG) electromyography electrodes to record flexor hallucis longus (FHL) muscle activity during walking, and describe the role of the FHL. Muscle activity was recorded in 12 participants using sEMG and iEMG during treadmill and overground walking. Inter-tester reliability for visual detection of onset and offset of muscle activity was high (ICC = 1.00). During the loading period, the number of bursts of muscle activity was statistically significantly greater using iEMG compared to sEMG when treadmill walking (p = 0.016), and the duration of muscle activity was significantly greater for iEMG (p = 0.01) on both walking surfaces. There were no differences for peak and mean root mean squared (p ≥ 0.07). The FHL activity observed during the loading period (heel strike to forefoot strike) supports the function of the FHL to act as a dynamic ankle stabiliser of the rearfoot, as well as contributing to propulsion during the latter part of stance. The choice of electrodes to detect FHL activity should be dependent on whether the loading and propulsive periods are of interest, and whether treadmill or overground walking will be examined.     

Effect of boot shaft stiffness on stability joint energy and muscular co-contraction during walking on uneven surface

Increased boot shaft stiffness may have a noticeable impact on the range of motion of the ankle joint. Therefore, the ability of the ankle joint to generate power for propulsion might be impaired. This might result in compensatory changes at the knee and hip joint. Besides, adaptability of the subtalar joint to uneven surface might be reduced, which could in turn affect stability. The aim of the study was therefore to investigate the influence of boot shaft stiffness on biomechanical gait parameters.Fifteen healthy young adults walked over coarse gravel wearing two different hiking boots that differed by 50% in passive shaft stiffness. Leg kinematics, kinetics and electromyography were measured. Gait velocity and indicators for stability were not different when walking with the hard and soft boot shaft over the gravel surface. However, the hard boot shaft decreased the ankle range of motion as well as the eccentric energy absorbed at the ankle joint. As a consequence, compensatory changes at the knee joint were observed. Co-contraction was increased, and greater eccentric energy was absorbed. Therefore, the efficiency of gait with hard boots might be decreased and joint loading at the knee might be increased, which might cause early fatigue of knee muscles during walking or hiking. The results of this study suggest that stiffness and blocking of joint motion at the ankle should not be equated with safety. A trade-off between lateral stiffness and free natural motion of the ankle joint complex might be preferable.     

The effects of Achilles tendon compliance on triceps surae mechanics and energetics in walking

Achilles tendon (AT) compliance can affect the generation and transmission of triceps surae muscle forces, and thus has important biomechanical consequences for walking performance. However, the uniarticular soleus (SOL) and the biarticular (GAS) function differently during walking, with in vivo evidence suggesting that their associated fascicles and tendinous structures exhibit unique kinematics during walking. Given the strong association between muscle fiber length, velocity and force production, we conjectured that SOL and GAS mechanics and energetic behavior would respond differently to altered AT compliance. To test this, we characterized GAS and SOL muscle and tendon mechanics and energetics due to systematic changes in tendon compliance using musculoskeletal simulations of walking. Increased tendon compliance enlarged GAS and SOL tendon excursions, shortened fiber operation lengths and affected muscle excitation patterns. For both muscles, an optimal tendon compliance (tendon strains of approximately 5% with maximum isometric force) existed that minimized metabolic energy consumption. However, GAS muscle-tendon mechanics and energetics were significantly more sensitive to changes in tendon compliance than were those for SOL. In addition, GAS was not able to return stored tendon energy during push-off as effectively as SOL, particularly for larger values of tendon compliance. These fundamental differences between GAS and SOL sensitivity to altered tendon compliance seem to arise from the biarticular nature of GAS. These insights are potentially important for understanding the functional consequences of altered Achilles tendon compliance due to aging, injury, or disease.