Complex tactile waveform discrimination

Towards high performance and durable soft tactile actuators

Soft actuators are gaining significant attention due to their ability to provide realistic tactile sensations in various applications. However, their soft nature makes them vulnerable to damage from external factors, limiting actuation stability and device lifespan. The susceptibility to damage becomes higher with these actuators often in direct contact with their surroundings to generate tactile feedback. Upon onset of damage, the stability or repeatability of the device will be undermined. Eventually, when complete failure occurs, these actuators are disposed of, accumulating waste and driving the consumption of natural resources. This emphasizes the need to enhance the durability of soft tactile actuators for continued operation. This review presents the principles of tactile feedback of actuators, followed by a discussion of the mechanisms, advancements, and challenges faced by soft tactile actuators to realize high actuation performance, categorized by their driving stimuli. Diverse approaches to achieve durability are evaluated, including self-healing, damage resistance, self-cleaning, and temperature stability for soft actuators. In these sections, current challenges and potential material designs are identified, paving the way for developing durable soft tactile actuators.

Tactile perception of auditory roughness

Auditory roughness resulting from fast temporal beatings is often studied by summing two pure tones with close frequencies. Interestingly, the tactile counterpart of auditory roughness can be provided through touch with vibrotactile actuators. However, whether auditory roughness could also be perceived through touch and whether it exhibits similar characteristics are unclear. Here, auditory roughness perception and its tactile counterpart were evaluated using pairs of pure tone stimuli. Results revealed similar roughness curves in both modalities, suggesting similar sensory processing. This study attests to the relevance of such a paradigm for investigating auditory and tactile roughness in a multisensory fashion.

Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations

Haptics researchers often endeavor to deliver realistic vibrotactile feedback through broad-bandwidth actuators; however, these actuators typically generate only single-axis vibrations, not 3D vibrations like those that occur in natural tool-mediated interactions. Several three-to-one (321) dimensional reduction algorithms have thus been developed to combine 3D vibrations into 1D vibrations. Surprisingly, the perceptual quality of 321-converted vibrations has never been comprehensively compared to rendering of the original 3D signals. In this study, we develop a multi-dimensional vibration rendering system using a magnetic levitation haptic interface. We verify the system's ability to generate realistic 3D vibrations recorded in both tapping and dragging interactions with four surfaces. We then conduct a study with 15 participants to measure the perceived dissimilarities between five 321 algorithms (SAZ, SUM, VM, DFT, PCA) and the original recordings. The resulting perceptual space is investigated with multiple regression and Procrustes analysis to unveil the relationship between the physical and perceptual properties of 321-converted vibrations. Surprisingly, we found that participants perceptually discriminated the original 3D vibrations from all tested 1D versions. Overall, our results indicate that spectral, temporal, and directional attributes may all contribute to the perceived similarities of vibration signals.

Perceived Intensity Model of Dual-Frequency Superimposed Vibration: Pythagorean Sum

This paper presents a model for estimating the perceived intensity of a superimposed dual-frequency vibration from the perceived intensities of its two component vibrations. Based on the previous findings in the literature, we hypothesize that the three variables follow the Pythagorean relationship. Two psychophysical experiments were performed for verification with a wide range of single-frequency and superimposed vibrations applied to the fingertip. In Experiment I, we measured the perceived intensities of a large number of single-frequency vibrations and found a psychophysical magnitude function. Experiment II was designed based on the results of Experiment I in order to test the research hypothesis. For the 108 dual-frequency vibrations tested, the Pythagorean model showed 4.0% of average error in estimating the perceived intensity of a dual-frequency vibration from those of its two components. This model is robust and practical, and can be useful for any tactile interaction applications that make use of superimposed vibrations.

Interactive Vibrotactile Feedback Enhances the Perceived Quality of a Surface for Musical Expression and the Playing Experience

An advanced multi-touch sensor surface aimed at musical expression was recently equipped by the authors with interactive multi-point localized vibrotactile feedback. Using such interface, a subjective assessment was conducted that measured how the presence and type of vibration affect the perceived quality of the device and various attributes related to the playing experience. Two clearly distinct sound settings each with three vibrotactile feedback strategies were tested. At each trial, the task was to play freely while comparing two related setups which used the same sound setting and differed only in the presence/absence of vibration. Independent of the sound setting, as compared to the respective non-vibrating setups, vibrations conveying frequency and amplitude dynamics cues coherent with the player's gesture and/or sonic feedback had the most positive effect. Vibrotactile feedback especially improved the enjoyment of playing and the perceived potential for musical expressivity.

Frequency Masking Effects for Vertical Whole-Body Vibration for Seated Subjects

Masking occurs when the perception of a stimulus is affected or covered by the presence of another signal in close proximity either in time or frequency. This study investigated frequency masking effects across a wide frequency range for whole-body vibration (WBV). The hypothesis that masking effects for WBV might be caused by sub-channels within the Pacinian channel was explored in two experiments. One experiment explored the masking effects of narrow band noise (NBN) on the perception threshold of sinusoidal vibrations; another explored the effect of different widths of NBN on the shift of the perception threshold for vertical vibration of seated subjects. The results show distinct masking effects for WBV based on frequency, albeit they do not support the existence of sub-channels within the Pacinian channel. Neither the typical masking effects associated with critical bands nor threshold shifts dependent on the bandwidth of the narrow band noise can be shown. Thus, the hypothesis does not appear to hold for WBV, but frequency masking must be considered for future studies and tactile applications.

Phase Difference Between Normal and Shear Forces During Tactile Exploration Represents Textural Features

Contact forces and skin deformation induced during tactile exploration have been investigated in the frequency domain to understand finger-material interaction. Their power spectra are one of the representative feature quantities that have been associated with the surface properties of materials. However, thus far, the phase information of these quantities has not been studied. Furthermore, most previous studies focused on uni-dimensional signals such as forces in either the normal or tangential directions. We investigated the phase differences between normal and shear forces induced during tactile exploration. The results showed that the phase differences between these two axial forces differ among materials and that they exhibit features different from their power spectra. These results indicate that the phase difference between two axial forces should be taken into account to understand the finger-material interactions during tactile exploration.

Computational and Psychophysical Experiments on the Pacinian Corpuscle's Ability to Discriminate Complex Stimuli

Recognizing and discriminating vibrotactile stimuli is an essential function of the Pacinian corpuscle. This function has been studied at length in both a computational and an experimental setting, but the two approaches have rarely been compared, especially when the computational model has a high level of structural detail. In this paper, we explored whether the predictions of a multiscale, multiphysical computational model of the Pacinian corpuscle can predict the outcome of a corresponding psychophysical experiment. The discrimination test involved either two simple stimuli with frequency in the 160-500 Hz range, or two complex stimuli formed by combining the waveforms for a 100-Hz stimulus with a second stimulus in the 160-500 Hz range. The subjects' ability to distinguish between the simple stimuli increased as the frequency increased, a result consistent with the model predictions for the same stimuli. The model also predicted correctly that subjects would find the complex stimuli more difficult to distinguish than the simple ones and also that the discriminability of the complex stimuli would show no trend with frequency difference.

Measuring relative vibrotactile spatial acuity: effects of tactor type, anchor points and tactile anisotropy

Vibrotactile displays can compensate for the loss of sensory function of people with permanent or temporary deficiencies in vision, hearing, or balance, and can augment the immersive experience in virtual environments for entertainment, or professional training. This wide range of potential applications highlights the need for research on the basic psychophysics of mechanisms underlying human vibrotactile perception. One key consideration when designing tactile displays is determining the minimal possible spacing between tactile motors (tactors), by empirically assessing the maximal throughput of the skin, or, in other words, vibrotactile spatial acuity. Notably, such estimates may vary by tactor type. We assessed vibrotactile spatial acuity in the lower thoracic region for three different tactor types, each mounted in a 4 × 4 array with center-to-center inter-tactor distances of 25 mm, 20 mm, and 10 mm. Seventeen participants performed a relative three-alternative forced-choice point localization task with successive tactor activation for both vertical and horizontal stimulus presentation. The results demonstrate that specific tactor characteristics (frequency, acceleration, contact area) significantly affect spatial acuity measurements, highlighting that the results of spatial acuity measurements may only apply to the specific tactors tested. Furthermore, our results reveal an anisotropy in vibrotactile perception, with higher spatial acuity for horizontal than for vertical stimulus presentation. The findings allow better understanding of vibrotactile spatial acuity and can be used for formulating guidelines for the design of tactile displays, such as regarding inter-tactor spacing, choice of tactor type, and direction of stimulus presentation.

Human tactile detection of within- and inter-finger spatiotemporal phase shifts of low-frequency vibrations

When we touch an object, the skin copies its surface shape/texture, and this deformation pattern shifts according to the objects movement. This shift pattern directly encodes spatio-temporal “motion” information of the event, and has been detected in other modalities (e.g., inter-aural time differences for audition and first-order motion for vision). Since previous studies suggested that mechanoreceptor-afferent channels with small receptive field and slow temporal characteristics contribute to tactile motion perception, we tried to tap the spatio-temporal processor using low-frequency sine-waves as primitive probes in our previous study. However, we found that asynchrony of sine-wave pair presented on adjacent fingers was difficult to detect. Here, to take advantage of the small receptive field, we investigated within-finger motion and found above threshold performance when observers touched localized sine-wave stimuli with one finger. Though observers could not perceptually discriminate rightward from leftward motion, the adaptation occurred in a direction-sensitive way: the motion/asynchronous detection was impaired by adapting to asynchronous stimuli moving in the same direction. These findings are consistent with a possibility that human can directly encode short-range spatio-temporal patterns of skin deformation by using phase-shifted low-frequency components, in addition to detecting short- and long-range motion using energy shifts of high-frequency components.

Computational Parametric Analysis of the Mechanical Response of Structurally Varying Pacinian Corpuscles

The Pacinian corpuscle (PC) is a cutaneous mechanoreceptor that senses low-amplitude, high-frequency vibrations. The PC contains a nerve fiber surrounded by alternating layers of solid lamellae and interlamellar fluid, and this structure is hypothesized to contribute to the PC's role as a band-pass filter for vibrations. In this study, we sought to evaluate the relationship between the PC's material and geometric parameters and its response to vibration. We used a spherical finite element mechanical model based on shell theory and lubrication theory to model the PC's outer core. Specifically, we analyzed the effect of the following structural properties on the PC's frequency sensitivity: lamellar modulus (E), lamellar thickness (h), fluid viscosity (μ), PC outer radius (Ro), and number of lamellae (N). The frequency of peak strain amplification (henceforth "peak frequency") and frequency range over which strain amplification occurred (henceforth "bandwidth") increased with lamellar modulus or lamellar thickness and decreased with an increase in fluid viscosity or radius. All five structural parameters were combined into expressions for the relationship between the parameters and peak frequency, ωpeak=1.605×10-6N3.475(Eh/μRo), or bandwidth, B=1.747×10-6N3.951(Eh/μRo). Although further work is needed to understand how mechanical variability contributes to functional variability in PCs and how factors such as PC eccentricity also affect PC behavior, this study provides two simple expressions that can be used to predict the impact of structural or material changes with aging or disease on the frequency response of the PC.

Detection of keyboard vibrations and effects on perceived piano quality

Two experiments were conducted on an upright and a grand piano, both either producing string vibrations or conversely being silent after the initial keypress, while pianists were listening to the feedback from a synthesizer through insulating headphones. In a quality experiment, participants unaware of the silent mode were asked to play freely and then rate the instrument according to a set of attributes and general preference. Participants preferred the vibrating over the silent setup, and preference ratings were associated to auditory attributes of richness and naturalness in the low and middle ranges. Another experiment on the same setup measured the detection of vibrations at the keyboard, while pianists played notes and chords of varying dynamics and duration. Sensitivity to string vibrations was highest in the lowest register and gradually decreased up to note D5. After the percussive transient, the tactile stimuli exhibited spectral peaks of acceleration whose perceptibility was demonstrated by tests conducted in active touch conditions. The two experiments confirm that piano performers perceive vibratory cues of strings mediated by spectral and spatial summations occurring in the Pacinian system in their fingertips, and suggest that such cues play a role in the evaluation of quality of the musical instrument.

Investigation on Low Voltage Operation of Electrovibration Display

This paper presents three methods of input voltage signals that allow low voltage operation of an electrovibration display while preserving the perceptual feel and strength of electrovibration stimuli. The first method uses the amplitude modulation of a high-frequency carrier-signal. The second method uses a dc-offset, and the third method uses a combination of the two methods. The performance of the three methods was evaluated by a physical experiment that measured and analyzed static (dc-component) and dynamic (vibratory component) friction forces and two subsequent psychophysical studies. The physical experiment showed that only the dc -offset method enabled a statistically significant increase in the static friction force between the fingertip and the surface of the electrovibration display. The static friction increase was closely related to the root mean square of input voltage level. In contrast, all of the three methods increased the dynamic friction force significantly, which was deemed to be related to the high frequency effect validated in the previous literature. The first psychophysical study showed that the three proposed methods can significantly reduce the peak-to-peak (p-p) amplitude of an input voltage signal while generating perceptually equally strong electrovibrations to that produced by the conventional method. Using lower p-p voltage has the merits of a simpler electrical circuit and less electromagnetic noise, saving the overall system cost. Further, the perceived intensity of electrovibration was more correlated to the dynamic friction force than the static friction force. The second psychophysical study was a discrimination experiment, and it demonstrated that all the three proposed methods and the conventional method can provide perceptually similar stimuli despite their different signal forms and voltage amplitudes. Our experimental investigation allowed us to conclude that the dc-offset method is the best way to lower the driving voltage of an electrovibration display while providing perceptually equivalent electrovibrations.

Virtual Contact: The Continuum from Purely Visual to Purely Physical

Providing appropriate cues to users when interacting with objects in immersive virtual environments (IVEs) is a difficult task. In addition to individual user differences, environmental factors, and task-specific requirements, the technological complexity of the current state of the art in haptic feedback further increases the difficulty. Though the technology continues to improve, we are still a long way from having haptic feedback that meets the demands of a “general solution” to the problem. This paper focuses on ways of providing effective contact cues in IVEs, starting with purely-visual approaches and moving along a continuum to the use of actual physical objects as high-fidelity interfaces.

Neural timing signal for precise tactile timing judgments

The brain can precisely encode the temporal relationship between tactile inputs. While behavioural studies have demonstrated precise interfinger temporal judgments, the underlying neural mechanism remains unknown. Computationally, two kinds of neural responses can act as the information source. One is the phase-locked response to the phase of relatively slow inputs, and the other is the response to the amplitude change of relatively fast inputs. To isolate the contributions of these components, we measured performance of a synchrony judgment task for sine wave and amplitude-modulation (AM) wave stimuli. The sine wave stimulus was a low-frequency sinusoid, with the phase shifted in the asynchronous stimulus. The AM wave stimulus was a low-frequency sinusoidal AM of a 250-Hz carrier, with only the envelope shifted in the asynchronous stimulus. In the experiment, three stimulus pairs, two synchronous ones and one asynchronous one, were sequentially presented to neighboring fingers, and participants were asked to report which one was the asynchronous pair. We found that the asynchrony of AM waves could be detected as precisely as single impulse pair, with the threshold asynchrony being ∼20 ms. On the other hand, the asynchrony of sine waves could not be detected at all in the range from 5 to 30 Hz. Our results suggest that the timing signal for tactile judgments is provided not by the stimulus phase information but by the envelope of the response of the high-frequency-sensitive Pacini channel (PC), although they do not exclude a possible contribution of the envelope of non-PCs.

A multiphysics model of the Pacinian corpuscle

This study integrates mechanics and neuroscience to model the mechanoelectrochemical transduction of vibrations into neural signals in the Pacinian corpuscle.

Effect of skin-transmitted vibration enhancement on vibrotactile perception

Vibration on skin elicited by the mechanical interaction of touch between the skin and an object propagates to skin far from the point of contact. This paper investigates the effect of skin-transmitted vibration on vibrotactile perception. To enhance the transmission of high-frequency vibration on the skin, stiff tape was attached to the skin so that the tape covered the bottom surface of the index finger from the periphery of the distal interphalangeal joint to the metacarpophalangeal joint. Two psychophysical experiments with high-frequency vibrotactile stimuli of 250 Hz were conducted. In the psychophysical experiments, discrimination and detection thresholds were estimated and compared between conditions of the presence or the absence of the tape (normal bare finger). A method of limits was applied for the detection threshold estimation, and the discrimination task using a reference stimulus and six test stimuli with different amplitudes was applied for the discrimination threshold estimation. The stimulation was given to bare fingertips of participants. Result showed that the detection threshold was enhanced by attaching the tape, and the discrimination threshold enhancement by attaching the tape was confirmed for participants who have relatively large discrimination threshold under normal bare finger. Then, skin-transmitted vibration was measured with an accelerometer with the psychophysical experiments. Result showed that the skin-transmitted vibration when the tape was attached to the skin was larger than that when normal bare skin. There is a correlation between the increase in skin-transmitted vibration and the enhancement of the discrimination threshold.

Lossy data compression of vibrotactile material-like textures

Tactile content will be delivered over the Internet in the near future. Vibrotactile material-like textures that resemble the surfaces of wood, leather, etc., are representative of such content. We performed lossy compression of texture data for reducing the data size. We confirmed the effectiveness of two compression strategies: quantization and truncation of data beneath a shifted perceptual threshold curve. In the quantization strategy, the amplitude spectra of vibrotactile textures could be quantized in 14 steps. This reduced the data size to approximately one quarter without any noticeable quality deterioration. The method for truncating frequency components with amplitudes smaller than a shifted perceptual threshold curve was also effective, and it was preferable to the automatic deletion of subthreshold amplitudes. We reduced the data size of vibrotactile material textures to 10-20 percent of their original size by combining the lossy data compression strategy with Huffman coding, which is a lossless data compression method. Lossy compression algorithms will enhance the online delivery of vibrotactile material-like textures by decreasing their data size without significant loss of quality.

Application of vibrotactile feedback of body motion to improve rehabilitation in individuals with imbalance

BACKGROUND AND PURPOSE

Balance rehabilitation and vestibular or balance prostheses are both emerging fields that have a potential for synergistic interaction. This article reviews vibrotactile prosthetic devices that have been developed to date and ongoing work related to the application of vibrotactile feedback for enhanced postural control. A vibrotactile feedback device developed in the author's laboratory is described.

METHODS

Twelve subjects with vestibular hypofunction were tested on a platform that moved randomly in a plane, while receiving vibrotactile feedback in the anteroposterior direction. The feedback allowed subjects to significantly decrease their anteroposterior body tilt but did not change mediolateral tilt. A tandem walking task performed by subjects with vestibulopathies demonstrated a reduction in their mediolateral sway due to vibrotactile feedback of mediolateral body tilt, after controlling for the effects of task learning. Published findings from 2 additional experiments conducted in the laboratories of collaborating physical therapists are summarized.

RESULTS

The Dynamic Gait Index scores in community-dwelling elderly individuals who were prone to falls were significantly improved with the use of mediolateral body tilt feedback.

DISCUSSION AND CONCLUSIONS

Although more work is needed, these results suggest that vibrotactile tilt feedback of subjects' body motion can be used effectively by physical therapists for balance rehabilitation. A preliminary description of the third-generation device that has been reduced from a vest format to a belt format is described to demonstrate the progressive evolution from research to clinical application.

A Frequency-Domain Analysis of Haptic Gratings

The detectability and discriminability of virtual haptic gratings were analyzed in the frequency domain. Detection (Exp. 1) and discrimination (Exp. 2) thresholds for virtual haptic gratings were estimated using a force-feedback device that simulated sinusoidal and square-wave gratings with spatial periods from 0.2 to 38.4 mm. The detection threshold results indicated that for spatial periods up to 6.4 mm (i.e., spatial frequencies >0.156 cycle/mm), the detectability of square-wave gratings could be predicted quantitatively from the detection thresholds of their corresponding fundamental components. The discrimination experiment confirmed that at higher spatial frequencies, the square-wave gratings were initially indistinguishable from the corresponding fundamental components until the third harmonics were detectable. At lower spatial frequencies, the third harmonic components of square-wave gratings had lower detection thresholds than the corresponding fundamental components. Therefore, the square-wave gratings were detectable as soon as the third harmonic components were detectable. Results from a third experiment where gratings consisting of two superimposed sinusoidal components were compared (Exp. 3) showed that people were insensitive to the relative phase between the two components. Our results have important implications for engineering applications, where complex haptic signals are transmitted at high update rates over networks with limited bandwidths.

Dynamic representations of the somatosensory cortex

Neural representation of somatosensory events undergoes major transformation in the primary somatosensory cortex (SI) from its original, more or less isomorphic, form found at the level of peripheral receptors. A large body of SI optical imaging, neural recording and psychophysical studies suggests that SI representation of stimuli encountered in everyday life is a product of dynamic processes that involve competitive interactions at multiple levels of cortical organization. Such interactions take place among neighboring neurons, among local groups of minicolumns, among neighboring macrocolumns, between SI and SII, between Pacinian and non-Pacinian channels, and bilaterally between homotopic somatosensory regions of the opposite hemispheres. Together these interactions sharpen SI response to suprathreshold and time-extended tactile stimuli by funneling the initially widespread stimulus-triggered activity in SI into the local group of macrocolumns most directly driven by the stimulus. Those macrocolumns in turn fractionate into stimulus-specific patterns of differentially active minicolumns. Thus SI dynamically shapes its representation of a tactile stimulus by selecting among all of its neurons initially activated by the stimulus a subset of neurons with receptive-field and feature-tuning properties closely matching those of the stimulus. Through this stimulus-directed dynamical selection process, which operates on a scale of hundreds of milliseconds, SI achieves a more faithful representation of stimulus properties, which is reflected in improved performance on tactile perceptual tasks.

Tactile intensity and population codes

An important question in neuroscience is how different aspects of a stimulus are encoded at different stages of neural processing. In this review, I discuss studies investigating the peripheral neural code for perceived intensity in touch. One of the recurrent themes in this line of research is that information about stimulus intensity is encoded in the activity of populations of neurons. Not only is information integrated across afferents of a given type, but information is also combined across submodalities to yield a unified percept of stimulus intensity. The convergence of information stemming from multiple submodalities is particularly interesting in light of the fact that these are generally thought to be parallel sensory channels with distinct sensory functions and little cross-channel interactions. I discuss implications of a recently proposed model of intensity coding for psychophysical functions and for the coding of intensity in cortex. I also briefly review the peripheral coding of intensity in other sensory modalities.

The neural coding of stimulus intensity: linking the population response of mechanoreceptive afferents with psychophysical behavior

How specific aspects of a stimulus are encoded at different stages of neural processing is a critical question in sensory neuroscience. In the present study, we investigated the neural code underlying the perception of stimulus intensity in the somatosensory system. We first characterized the responses of SA1 (slowly adapting type 1), RA (rapidly adapting), and PC (Pacinian) afferents of macaque monkeys to sinusoidal, diharmonic, and bandpass noise stimuli. We then had human subjects rate the perceived intensity of a subset of these stimuli. On the basis of these neurophysiological and psychophysical measurements, we evaluated a series of hypotheses about which aspect(s) of the neural activity evoked at the somatosensory periphery account for perception. We evaluated three types of neural codes. The first consisted of population codes based on the firing rate of neurons located directly under the probe. The second included population codes based on the firing rate of the entire population of active neurons. The third included codes based on the number of active afferents. We found that the response evoked in the localized population is logarithmic with stimulus amplitude (given a constant frequency composition), whereas the population response across all neurons is linear with stimulus amplitude. We conclude that stimulus intensity is best accounted for by the firing rate evoked in afferents located under or near the locus of stimulation, weighted by afferent type.

Frequency and amplitude discrimination along the kinestheticcutaneous continuum in the presence of masking stimuli

Frequency and amplitude discrimination thresholds along the kinesthetic to cutaneous continuum were evaluated on the left index fingerpad using a multifinger tactual display. Target stimuli were presented either in isolation (no-masker condition) or in the presence of masking stimuli (one- or two-masker conditions). Six reference target signals in the frequency range 2-300 Hz (two each from low-, medium-, and high-frequency regions) and at an amplitude of either 20 or 35 dB sensation levels (SL) were used. In the no-masker condition, the range of frequency Weber fraction was 0.13-0.38 and 0.14-0.28, and the range of amplitude discrimination threshold was 1.82-2.98 dB and 1.65-2.71 dB, at 20 and 35 dB SL, respectively. In the masking conditions, average frequency Weber fractions rose to 0.60 and 0.46, and average amplitude thresholds rose to 3.63 and 3.72 dB, at 20 and 35 dB SL, respectively. In general, thresholds were largest in the two-masker condition and lowest in the no-masker condition. Although the frequency and amplitude thresholds generally increased in the presence of masking stimuli, there was some indication of channel independence for low- and high-frequency target stimuli. The implications of the results for tactual communication of speech are discussed.

Vibrotactile adaptation enhances spatial localization

A two-interval forced choice tracking procedure was used to evaluate the effects of a pre-exposure to vibrotactile stimulation ("adaptation") on the capacity of human subjects to spatially localize a subsequent tactile stimulus. A 25 Hz flutter adapting stimulus was presented at a randomly selected position within a 20 mm linear array oriented transversely on the hand dorsum. Two flutter stimuli delivered subsequently were applied to different sites along the linear array; one to the same locus that received the adapting stimulation (the "standard" stimulus), the other to a distant site (the "test" stimulus). Following each trial, subjects were queried as to which of the two stimuli was delivered to the same skin site that received adapting stimulation. A correct response resulted in a reduced distance between the sites contacted by the standard and test stimuli in the following trial. Four subjects participated in 10 sessions each. A session consisted of two sets of 20 trials (one set at 0.5 s and another at 5 s adapting stimulus duration). For every subject, 5 s adaptation resulted in an approximately 2-fold improvement in spatial discrimination performance over that achieved following 0.5 s adaptation. It is proposed that the improved human vibrotactile spatial localization performance following 5 s of 25 Hz stimulation is due to enhanced spatial funneling of the global neuronal population response of primary somatosensory cortex (SI) that has been demonstrated to accompany increases in duration of 25 Hz flutter stimuli delivered to the skin.

Vibrotactile intensity and frequency information in the pacinian system: a psychophysical model

The objective of the study was to characterize the Pacinian representation of stimulus waveform. Subjects were presented with pairs of high-frequency vibrotactile stimuli that varied in intensity and/or frequency content and made same-different judgments under conditions of low-frequency adaptation designed to minimize the contribution of the RA system. We wished to infer the nature of the information conveyed by the Pacinian system about the stimuli from measured sensitivity (d') to stimulus differences. We first tested the hypothesis that the Pacinian system conveys only intensive information about vibratory stimuli and found that intensive cues could not account for much of the variance in the discrimination data. We then proposed a model characterizing the Pacinian-mediated representation of an arbitrary stimulus as a pattern of activation in a set of frequency-tuned minichannels. The model was shown to predict the discriminability of the stimulus pairs presented in the psychophysical experiments. Furthermore, the model parameters, optimized to fit the discrimination data, were compatible with analogous values obtained in other experimental contexts. One of the assumptions underlying the model is that information about individual spectral components is conveyed in parallel and quasi-independently. By simulating the response of a population of Pacinian afferents to a polyharmonic stimulus, we demonstrated that such a population can simultaneously convey information about multiple frequency components, despite having a homogeneous spectral profile.

Human vibrotactile frequency discriminative capacity after adaptation to 25 Hz or 200 Hz stimulation

A two-interval forced-choice (2-IFC) tracking procedure was used to evaluate the effects of a 15-s pre-exposure to either 25 Hz or 200 Hz stimulation ("25 Hz or 200 Hz adaptation") on human vibrotactile frequency discrimination threshold (frequency DL/Weber fraction). Three subjects were studied. All stimuli (standard and comparison) were delivered to a central location on the thenar eminence of the hand. The frequency DL/Weber fraction was determined for each subject under the following conditions: (1) no recent prior exposure to vibrotactile stimulation ("unadapted"); (2) after 15 s adaptation to 25 Hz stimulation; and (3) after 15 s adaptation to 200 Hz stimulation. The results demonstrate that the effects of frequency of adaptation on frequency discriminative capacity when the standard stimulus is 25 Hz are not the same as when the standard stimulus is 200 Hz. The differential changes in the capacity of subjects to discriminate frequency of cutaneous flutter (10-50 Hz) or vibratory (>200 Hz) stimulation that occur subsequent to a 15-s exposure of the thenar to 25 Hz or 200 Hz stimulation are proposed to reflect frequency-specific, adaptation-induced modification of the response of contralateral primary somatosensory cortex (SI and SII) to skin mechanoreceptor afferent drive.

Vibrotaction and texture perception

Several recent studies support Katz's hypothesis that vibrotaction plays a role in the perception of tactile textures with elements too small and closely spaced to be processed spatially. For example, eliminating vibration by preventing movement of a stimulus surface across the skin compromises psychophysical scaling and discrimination of fine, but not coarse, textures. Fine-texture discrimination is also impaired when vibrotactile channels are desensitized by adaptation. A role for vibrotaction in texture perception is plausible, given the keenness of this submodality: the sensory qualities produced by a sinusoidal vibration uniquely specify its frequency and amplitude, and subjects can distinguish some complex vibrations that differ in waveform but have the same spectral components. Finally, imposed vibration can modify the perceived texture of a haptically-examined surface. Taken together, these lines of evidence support the view that vibrotaction is both necessary and sufficient for the perception of fine tactile textures.

A transduction model of the Meissner corpuscle

I propose a transduction model of the Meissner corpuscle that integrates ideas put forth by Freeman and Johnson and results obtained by Looft. The principal development in the present model is its specification that RA receptor potentials are updated as a linear function of stimulus velocity above baseline; the model thus readily accommodates non-sinusoidal input. It also incorporates modifications to Freeman and Johnson's model proposed by Slavík and Bell, namely a period of refractoriness lasting 1 ms followed by a period of hyperexcitability lasting 13.5 ms. The model is applied to various psychophysical and physiological situations: psychophysical threshold vs. frequency, RA afferent impulse rates vs. intensity, impulse regularity vs. frequency, phase retardation vs. frequency, and responses to non-repeating noise and to complex stimuli. Model output closely matches psychophysical and neurophysiological data. The proposed model thus reliably predicts RA afferent responses to arbitrary stimuli and may facilitate the development of theories relating psychophysical phenomena to their underlying neural representations.

Imposed vibration influences perceived tactile smoothness

According to the duplex theory of tactile texture perception, detection of cutaneous vibrations produced when the exploring finger moves across a surface contributes importantly to the perception of fine textures. If this is true, a vibrating surface should feel different from a stationary one. To test this prediction, experiments were conducted in which subjects examined two identical surfaces, one of which was surreptitiously made to vibrate, and judged which of the two was smoother. In experiment 1, the vibrating surface was less and less often judged smoother as the amplitude of (150 Hz) vibration increased. The effect was comparable in subjects who realized the surface was vibrating and those who did not. Experiment 2 showed that different frequencies (150-400 Hz) were equally effective in eliciting the effect when equated in sensation level (dB SL). The results suggest that vibrotaction contributes to texture perception, and that, at least within the Pacinian channel, it does so by means of an intensity code.