Hardness Perception Based on Dynamic Stiffness in Tapping

Assessing the representational structure of softness activated by words

Softness is an important material property that can be judged directly, by interacting with an object, but also indirectly, by simply looking at an image of a material. The latter is likely possible by filling in relevant multisensory information from prior experiences with soft materials. Such experiences are thought to lead to associations that make up our representations about perceptual softness. Here, we investigate the structure of this representational space when activated by words, and compare it to haptic and visual perceptual spaces that we obtained in earlier work. To this end, we performed an online study where people rated different sensory aspects of soft materials, presented as written names. We compared the results with the previous studies where identical ratings were made on the basis of visual and haptic information. Correlation and Procrustes analyses show that, overall, the representational spaces of verbally presented materials were similar to those obtained from haptic and visual experiments. However, a classifier analysis showed that verbal representations could better be predicted from those obtained from visual than from haptic experiments. In a second study we rule out that these larger discrepancies in representations between verbal and haptic conditions could be due to difficulties in material identification in haptic experiments. We discuss the results with respect to the recent idea that at perceived softness is a multidimensional construct.

Contribution of Vibration, Tapping Sound, and Reaction Force to Hardness Perception During Indirect Tapping Using a White Cane

This study aimed to identify the physical factors contributing to the perception of the hardness of objects tapped using white canes, which are commonly used by the visually impaired for autonomous walking. First, physical factors such as vibration tapping sounds and reaction forces were measured during the indirect tapping of rubber sheets with different hardness using a white cane. Second, we determined the relationship between the subjective hardness perceived by the visually impaired individuals and the physical factors through multivariate analysis. In addition, we estimated the contribution of each factor. The result indicates that the white cane vibrated at similar frequencies during tapping even when the hardness of objects changed. In contrast, the tapping sound varied widely with the variation of the hardness of the rubber sheet. In addition, the peak values of the reaction forces significantly changed depending on the hardness. Based on the results of the multivariate analysis, the contributions of tapping sounds and reaction forces to hardness perception were remarkable. In contrast, the contributions of vibrations could not be found using our analytic method. These findings will help in the design and evaluation of support equipment for the visually impaired.

The look and feel of soft are similar across different softness dimensions

The softness of objects can be perceived through several senses. For instance, to judge the softness of a cat's fur, we do not only look at it, we often also run our fingers through its coat. Recently, we have shown that haptically perceived softness covaries with the compliance, viscosity, granularity, and furriness of materials (Dovencioglu, Üstün, Doerschner, & Drewing, 2020). However, it is unknown whether vision can provide similar information about the various aspects of perceived softness. Here, we investigated this question in an experiment with three conditions: in the haptic condition, blindfolded participants explored materials with their hands, in the static visual condition participants were presented with close-up photographs of the same materials, and in the dynamic visual condition participants watched videos of the hand-material interactions that were recorded in the haptic condition. After haptically or visually exploring the materials, participants rated them on various attributes. Our results show a high overall perceptual correspondence among the three experimental conditions. With a few exceptions, this correspondence tended to be strongest between haptic and dynamic visual conditions. These results are discussed with respect to information potentially available through the senses, or through prior experience, when judging the softness of materials.

Task and Material Properties Interactively Affect Softness Explorations Along Different Dimensions

Haptic research has frequently equated softness with the compliance of elastic objects. However, in a recent study we have suggested that compliance is not the only perceived material dimension underlying what is commonly called softness [1 ]. Here, we investigate, whether the different perceptual dimensions of softness affect how materials are haptically explored. Specifically, we tested whether also the task, i.e., the attribute that a material is being judged on, might affect how a material is explored. To this end we selected 15 adjectives and 19 materials that each associate with different softness dimensions for the study. In the experiment, while participants freely explored and rated the materials, we recorded their hand movements. These movements were subsequently categorized into distinct exploratory procedures (EPs) and analyzed in a multivariate analysis of variance (MANOVA). The results of this analysis suggest that the pattern of EPs depended not only on the material's softness dimension and the task (i.e., what attributes were rated), but also on an interaction between the two factors. Taken together, our findings support the notion of multiple perceptual dimensions of softness and suggest that participants actively adapt their EPs in a nuanced way when judging a particular softness dimensions for a given material.

A Systematic Comparison of Perceptual Performance in Softness Discrimination with Different Fingers

In studies investigating haptic softness perception, participants are typically instructed to explore soft objects by indenting them with their index finger. In contrast, performance with other fingers has rarely been investigated. We wondered which fingers are used in spontaneous exploration and if performance differences between fingers can explain spontaneous usage. In Experiment 1 participants discriminated the softness of two rubber stimuli with hardly any constraints on finger movements. Results indicate that humans use successive phases of different fingers and finger combinations during an exploration, preferring index, middle, and (to a lesser extent) ring finger. In Experiment 2 we compared discrimination thresholds between conditions, with participants using one of the four fingers of the dominant hand. Participants compared the softness of rubber stimuli in a two-interval forced choice discrimination task. Performance with index and middle finger was better as compared to ring and little finger, the little finger was the worst. In Experiment 3 we again compared discrimination thresholds, but participants were told to use constant peak force. Performance with the little finger was worst, whereas performance for the other fingers did not differ. We conclude that in spontaneous exploration the preference of combinations of index, middle, and partly ring finger seems to be well chosen, as indicated by improved performance with the spontaneously used fingers. Better performance seems to be based on both different motor abilities to produce force, mainly linked to using index and middle finger, and different sensory sensitivities, mainly linked to avoiding the little finger.