Haptic exploration

In this study on haptic exploration, the focus is on hand movements, sensory input, and motor abilities related to perceiving and identifying objects through touch. The research delves into how exploratory procedures influence information gathering and the effectiveness of different hand movements. Various tasks are analyzed to understand the role of sensory input in guiding exploration strategies.

• Haptic exploration
• Hand movements
• Sensory input
• Motor abilities
• Object recognition

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Uploaded on Feb 20, 2025 | 0 Views

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1. Haptic exploration 9.357: Touching and Grasping with Soft Fingers Maddie Cusimano

2. Lederman & Klatzky (1987), Hand Movements: A Window into Haptic Object Recognition. Lederman & Klatzky (2004), Haptic identification of common objects: Effects of constraining the manual exploration process

3. Lederman & Klatzky (1987), Hand Movements: A Window into Haptic Object Recognition. Lederman & Klatzky (2004), Haptic identification of common objects: Effects of constraining the manual exploration process

4. Lederman, Klatzky, & Barber, 1985 Magee & Kennedy, 1980

5. Haptic subsystems Sensory cutaneous, kinesthetic input Motor active manipulation Key idea: hand s motor abilities are inherent to its sensory abilities J.J. Gibson (1962, 1966): perceptual vs. sensory systems

6. Haptic subsystems Sensory cutaneous, kinesthetic input Motor active manipulation Key idea: hand s motor abilities are inherent to its sensory abilities J.J. Gibson (1962, 1966): perceptual vs. sensory systems

7. Hypothesis Hand movements should vary with sensory input and type of information desired Exploratory procedures (EP) Stereotyped movement pattern with certain invariance

8. Lets explore

11. 2 match-to-sample tasks 1. Varied instructions and videotaped hands during exploration Are EPs driven by the type of information sought? 2. Allowed only 1 EP during exploration How effective is each EP at obtaining different types of information?

12. 2 match-to-sample tasks 1. Varied instructions and videotaped hands during exploration Are EPs driven by the type of information sought? 2. Allowed only 1 EP during exploration How effective is each EP at obtaining different types of information?

13. Experiment 1: method Mostly unfamiliar objects

15. Experiment 1: matching accuracy Matching dimension Mean % Agreement Range over sets Overall category mean 88.9 100.0 88.9 100.0 72.2 100.0 44.4 88.9 61.1 100.0 72.2 100.0 66.7 88.9 83.3 100.0 83.3 88.9 Texture Hardness Temperature Weight Volume General shape Exact shape Part motion Function 93.05 94.43 88.73 65.28 80.55 87.48 76.40 93.05 84.70

16. Experiment 1: EP durations

17. Experiment 2: method Same match-to-sample task as experiment 1, but participants were instructed to only use a specific motion

18. Experiment 2: method Necessary: only EP to produce above chance performance Sufficient: EPs that lead to above chance performance on a task Optimal: Greater accuracy than any other EP (if comparable accuracy, look at speed) Specialization: zmax mean(zrest)

19. Experiment 2: analysis summary Dimension Lateral Motion O S S Pressure Static Contact S Unsupp. Holding Enclose Contour following S S S S S S N 1.92 Texture Hardness Temperature Weight Volume Global Shape Exact Shape Special score S O S S S S S S S S S O S S O O O 2.06 2.79 1.56 1.95 0.62

20. Lederman & Klatzky (1987), Hand Movements: A Window into Haptic Object Recognition. Lederman & Klatzky (2004), Haptic identification of common objects: Effects of constraining the manual exploration process

21. Types of constraints 1. Fewer fingers 2. Compliant glove (can bend, skin covered) 3. Rigid finger splint (cannot bend, skin uncovered) 4. Rigid finger sheath (cannot bend, skin covered) 5. Rigid probe

22. Results: recognition of everyday objects

23. What about EPs? Constraints: One or two fingers Rigid probe: one or two chopsticks Non-rigid probe: pipe cleaner Clay/styrofoam tips Compliant gloves, bags Duct-taped hands