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There is a steadily growing number of mobile communication systems that provide spatially encoded tactile information to the humans’ torso. However, the increased use of such hands-off displays is currently not matched with or supported by systematic perceptual characterization of tactile spatial discrimination on the torso. Furthermore, there are currently no data testing spatial discrimination for dynamic force stimuli applied to the torso. In the present study, we measured tactile point localization (LOC) and tactile direction discrimination (DIR) on the thoracic spine using two unisex torso-worn tactile vests realized with arrays of 3 × 3 vibrotactile or force feedback actuators. We aimed to, first, evaluate and compare the spatial discrimination of vibrotactile and force stimulations on the thoracic spine and, second, to investigate the relationship between the LOC and DIR results across stimulations. Thirty-four healthy participants performed both tasks with both vests. Tactile accuracies for vibrotactile and force stimulations were 60.7% and 54.6% for the LOC task; 71.0% and 67.7% for the DIR task, respectively. Performance correlated positively with both stimulations, although accuracies were higher for the vibrotactile than for the force stimulation across tasks, arguably due to specific properties of vibrotactile stimulations. We observed comparable directional anisotropies in the LOC results for both stimulations; however, anisotropies in the DIR task were only observed with vibrotactile stimulations. We discuss our findings with respect to tactile perception research as well as their implications for the design of high-resolution torso-mounted tactile displays for spatial cueing. Supplementary Information The online version contains supplementary material available at 10.1007/s00221-021-06181-x.

When lifting or moving a novel object, humans are routinely able to quickly characterize the nature of the unknown load and swiftly achieve the desired movement trajectory. It appears that both tactile and proprioceptive feedback systems help humans develop an accurate prediction of load properties and determine how associated limb segments behave during voluntary movements. While various types of limb movement information, such as position, velocity, acceleration, and manipulating forces, can be detected using human tactile and proprioceptive systems, we know little about how the central nervous system decodes these various types of movement data, and in which order or priority they are used when developing predictions of joint motion during novel object manipulation. In this study, we tested whether the ability to predict motion is different between position- (elastic), velocity- (viscous), and acceleration-dependent (inertial) loads imposed using a multiaxial haptic robot. Using this protocol, we can learn if the prediction of the motion model is optimized for one or more of these types of mechanical load. We examined ten neurologically intact subjects. Our key findings indicated that inertial and viscous loads showed the fastest adaptation speed, whereas elastic loads showed the slowest adaptation speed. Different speeds of adaptation were observed across different magnitudes of the load, suggesting that human capabilities for predicting joint motion and manipulating loads may vary systematically with different load types and load magnitudes. Our results imply that human capabilities for load manipulation seems to be most sensitive to and potentially optimized for inertial loads.

Humans identify properties (e.g., the length or weight) of objects through touch using somatosensory perceptions in the limbs. Humans identify these properties by manipulating an object to access its inertial qualities. However, there is little work evidencing a unifying pattern of movements humans use to access these inertial properties. The current study examined if participants’ wielding movements followed a systematic distribution—specifically, a Levy-like distribution that is characterized by heavy-tails and is often seen in efficient foraging behavior. Participants wielded rods they could not see and were tasked to identify whether the rod they were wielding was the longer or shorter of two rods. While participants wielded the rod, the rod’s motion was captured. Results demonstrate that the sampling of angular accelerations produced heavy-tailed distributions. Since angular acceleration has a distinct physical–mathematical relationship with inertia, this finding is consistent with the interpretation that the haptic subsystems are sensitive to the inertial properties of an object. Angular acceleration from wielding motions appear to follow a similar distribution as optimal foraging strategies—perhaps it is the case that humans are foraging for information about the inertia of an object through changes in angular acceleration and wielding movements.

The visual, vestibular, and haptic perceptual systems are each able to detect self-motion. Such information can be integrated during locomotion to perceive traversed distances. The process of distance integration is referred to as odometry. Visual odometry relies on information in optic flow patterns. For haptic odometry, such information is associated with leg movement patterns. Recently, it has been shown that haptic odometry is differently calibrated for different types of gaits. Here, we use this fact to examine the relative contributions of the perceptual systems to odometry. We studied a simple homing task in which participants travelled set distances away from an initial starting location (outbound phase), before turning and attempting to walk back to that location (inbound phase). We manipulated whether outbound gait was a walk or a gallop-walk. We also manipulated the outbound availability of optic flow. Inbound reports were performed via walking with eyes closed. Consistent with previous studies of haptic odometry, inbound reports were shorter when the outbound gait was a gallop-walk. We showed that the availability of optic flow decreased this effect. In contrast, the availability of optic flow did not have an observable effect when the outbound gait was walking. We interpreted this to suggest that visual odometry and haptic odometry via walking are similarly calibrated. By measuring the decrease in shortening in the gallop-walk condition, and scaling it relative to the walk condition, we estimated a relative contribution of optic flow to odometry of 41%. Our results present a proof of concept for a new, potentially more generalizable, method for examining the contributions of different perceptual systems to odometry, and by extension, path integration. We discuss implications for understanding human wayfinding.

Spatial representation in the haptic domain has been shown to be prone to systematic errors. When participants are asked to make two bars haptically parallel, their performance deviates from what would be veridically parallel. This is hypothesized to be caused by the bias of the egocentric reference frame. Stimulating the use of an allocentric reference frame has previously been shown to improve performance in haptic parallelity matching. The aim of the current study was to investigate the influence of action video game experience on parallelity performance. We hypothesized that participants who extensively play action video games with a so-called ‘bird’s-eye view’ are likely to process spatial information more allocentrically, resulting in better performance in haptic parallelity matching. This was tested in two groups of male participants, 10 participants with extensive action video gaming experience (AVGPs) and 10 participants without or hardly any action video gaming experience (NAVGPs). Additionally, the effect of visual–haptic practice on haptic parallelity performance was tested. In the haptic blocks, blindfolded participants had to feel the orientation of a reference bar with their non-dominant hand and had to match this orientation on a test bar with their dominant hand. In subsequent visual–haptic blocks, they had full view of the set-up and visually paralleled both bars. As hypothesized, AVGPs performed significantly better in haptic blocks than NAVGPs. Visual–haptic practice resulted in significantly better performance in subsequent haptic blocks in both groups. These results suggest that playing action video games might enhance haptic spatial representation, although a causative relationship still needs to be established.

Humans are extraordinarily skilled in the tactile evaluation of, and differentiation between, surfaces. The chemical and mechanical properties of these surfaces are translated into tactile signals during haptic exploration by mechanoreceptors in our skin, which are specialized to respond to different types of temporal and mechanical stimulation. Describing the effects of measurable physical characteristics on the human response to tactile exploration of surfaces is of great interest to manufacturers of household materials so that the haptic experience can be considered during design, product development and quality control. In this study, methods from psychophysics and materials science are combined to advance current understanding of which physical properties affect tactile perception of a range of furniture surfaces, i.e., foils and coatings, thus creating a tactile map of the furniture product landscape. Participants’ responses in a similarity scaling task were analyzed using INDSCAL from which three haptic dimensions were identified. Results show that specific roughness parameters, tactile friction and vibrational information, as characterized by a stylus profilometer, a Forceboard, and a biomimetic synthetic finger, are important for tactile differentiation and preferences of these surface treatments. The obtained dimensions are described as distinct combinations of the surface properties characterized, rather than as ‘roughness’ or ‘friction’ independently. Preferences by touch were related to the roughness, friction and thermal properties of the surfaces. The results both complement and advance current understanding of how roughness and friction relate to tactile perception of surfaces.

Navigation can be haptically guided. In specific, tissue deformations arising from both limb motions during locomotion (i.e., gait patterns) and mechanical interactions between the limbs and the environment can convey information, detected by the haptic perceptual system, about how the body is moving relative to the environment. Here, we test hypotheses concerning the properties of mechanically contacted environments relevant to navigation of this kind. We studied blindfolded participants implicitly learning to perceive their location within environments that were physically encountered via walking on, stepping on, and probing ground surfaces with a cane. Environments were straight-line paths with elevated sections where the path either narrowed or remained the same width. We formed hypotheses concerning how these two environments would affect spatial updating and reorientation processes. In the constant pathwidth environment, homing task accuracy was higher and a manipulation of the elevated surface, to be either unchanged or (unbeknown to participants) shortened, biased the performance. This was consistent with our hypothesis of a metric recalibration scaled to elevated surface extent. In the narrowing pathwidth environment, elevated surface shortening did not bias performance. This supported our hypothesis of positional recalibration resulting from contact with the leading edge of the elevated surface. We discuss why certain environmental properties, such as path-narrowing, have significance for how one becomes implicitly oriented the surrounding environment.

Previous studies have paid special attention to the relationship between local features (e.g., raised dots) and human roughness perception. However, the relationship between global features (e.g., curved surface) and haptic roughness perception is still unclear. In the present study, a series of roughness estimation experiments was performed to investigate how global features affect human roughness perception. In each experiment, participants were asked to estimate the roughness of a series of haptic stimuli that combined local features (raised dots) and global features (sinusoidal-like curves). Experiments were designed to reveal whether global features changed their haptic roughness estimation. Furthermore, the present study tested whether the exploration method (direct, indirect, and static) changed haptic roughness estimations and examined the contribution of global features to roughness estimations. The results showed that sinusoidal-like curved surfaces with small periods were perceived to be rougher than those with large periods, while the direction of finger movement and indirect exploration did not change this phenomenon. Furthermore, the influence of global features on roughness was modulated by local features, regardless of whether raised-dot surfaces or smooth surfaces were used. Taken together, these findings suggested that an object’s global features contribute to haptic roughness perceptions, while local features change the weight of the contribution that global features make to haptic roughness perceptions.

Virtual reality (VR) is a promising tool for expanding the possibilities of psychological experimentation and implementing immersive training applications. Despite a recent surge in interest, there remains an inadequate understanding of how VR impacts basic cognitive processes. Due to the artificial presentation of egocentric distance cues in virtual environments, a number of cues to depth in the optic array are impaired or placed in conflict with each other. Moreover, realistic haptic information is all but absent from current VR systems. The resulting conflicts could impact not only the execution of motor skills in VR but also raise deeper concerns about basic visual processing, and the extent to which virtual objects elicit neural and behavioural responses representative of real objects. In this brief review, we outline how the novel perceptual environment of VR may affect vision for action, by shifting users away from a dorsal mode of control. Fewer binocular cues to depth, conflicting depth information and limited haptic feedback may all impair the specialised, efficient, online control of action characteristic of the dorsal stream. A shift from dorsal to ventral control of action may create a fundamental disparity between virtual and real-world skills that has important consequences for how we understand perception and action in the virtual world.

The large systematic deviations in haptic parallelity matching are most likely due to the biasing influence of the hand-centered egocentric reference frame. Previous results showed that eliminating or reducing this bias resulted in smaller deviations, with significantly larger effects observed in female participants. The current study investigated the effect of reducing the egocentric bias in a pure haptic condition. Blind-folded male and female participants had to feel the orientation of a reference bar with their non-dominant hand and to parallel this orientation on a test bar with their dominant hand. In one condition, they were instructed to use their flat-stretched hand to feel and match the bars, while in the other condition (HPF), they were instructed to set the test bar while gripping the bar with the fingers and thumb. It was hypothesized that the latter would reduce the biasing influence of the hand-centered egocentric reference frame. Results showed that this was indeed the case. Deviations were significantly smaller for HPF; however, this effect was the same in both genders. The previously observed gender effect, showing a significantly larger improvement for women when reducing the influence of the egocentric reference frame, was not replicated.

To promote motor learning, robotic devices have been used to improve subjects’ performance by guiding desired movements (haptic guidance—HG) or by artificially increasing movement errors to foster a more rapid learning (error amplification—EA). To better understand the neurophysiological basis of motor learning, a few studies have evaluated brain regions activated during EA/HG, but none has compared both approaches. The goal of this study was to investigate using fMRI which brain networks were activated during a single training session of HG/EA in healthy adults learning to play a computerized pinball-like timing task. Subjects had to trigger a robotic device by flexing their wrist at the correct timing to activate a virtual flipper and hit a falling ball towards randomly positioned targets. During training with HG/EA, subjects’ timing errors were decreased/increased, respectively, by the robotic device to delay or accelerate their wrist movement. The results showed that at the beginning of the training period with HG/EA, an error-detection network, including cerebellum and angular gyrus, was activated, consistent with subjects recognizing discrepancies between their intended actions and the actual movement timing. At the end of the training period, an error-detection network was still present for EA, while a memory consolidation/automatization network (caudate head and parahippocampal gyrus) was activated for HG. The results indicate that training movement with various kinds of robotic input relies on different brain networks. Better understanding the neurophysiological underpinnings of brain processes during HG/EA could prove useful for optimizing rehabilitative movement training for people with different patterns of brain damage. ISSN:0014-4819 ISSN:1432-1106

Grasping is a complex task routinely performed in an anticipatory (feedforward) manner, where sensory feedback is responsible for learning and updating the internal model of grasp dynamics. This study aims at evaluating whether providing a proportional tactile force feedback during the myoelectric control of a prosthesis facilitates learning a stable internal model of the prosthesis force control. Ten able-bodied subjects controlled a sensorized myoelectric prosthesis performing four blocks of consecutive grasps at three levels of target force (30, 50, and 70%), repeatedly closing the fully opened hand. In the first and third block, the subjects received tactile and visual feedback, respectively, while during the second and fourth block, the feedback was removed. The subjects also performed an additional block with no feedback 1 day after the training (Retest). The median and interquartile range of the generated forces was computed to assess the accuracy and precision of force control. The results demonstrated that the feedback was indeed an effective instrument for the training of prosthesis control. After the training, the subjects were still able to accurately generate the desired force for the low and medium target (30 and 50% of maximum force available in a prosthesis), despite the feedback being removed within the session and during the retest (low target force). However, the training was substantially less successful for high forces (70% of prosthesis maximum force), where subjects exhibited a substantial loss of accuracy as soon as the feedback was removed. The precision of control decreased with higher forces and it was consistent across conditions, determined by an intrinsic variability of repeated myoelectric grasping. This study demonstrated that the subject could rely on the tactile feedback to adjust the motor command to the prosthesis across trials. The subjects adjusted the mean level of muscle activation (accuracy), whereas the precision could not be modulated as it depends on the intrinsic myoelectric variability. They were also able to maintain the feedforward command even after the feedback was removed, demonstrating thereby a stable learning, but the retention depended on the level of the target force. This is an important insight into the role of feedback as an instrument for learning of anticipatory prosthesis force control.

To effectively interpret and interact with the world, humans weight redundant estimates from different sensory cues to form one coherent, integrated estimate. Recent advancements in physical assistance systems, where guiding forces are computed by an intelligent agent, enable the presentation of augmented cues. It is unknown, however, if cue weighting can be extended to augmented cues. Previous research has shown that cue weighting is determined by the reliability (inversely related to uncertainty) of cues within a trial, yet augmented cues may also be affected by errors that vary over trials. In this study, we investigate whether people can learn to appropriately weight a haptic cue from an intelligent assistance system based on its error history. Subjects held a haptic device and reached to a hidden target using a visual (Gaussian distributed dots) and haptic (force channel) cue. The error of the augmented haptic cue varied from trial to trial based on a Gaussian distribution. Subjects learned to estimate the target location by weighting the visual and augmented haptic cues based on their perceptual uncertainty and experienced errors. With both cues available, subjects were able to find the target with an improved or equal performance compared to what was possible with one cue alone. Our results show that the brain can learn to reweight augmented cues from intelligent agents, akin to previous observations of the reweighting of naturally occurring cues. In addition, these results suggest that the weighting of a cue is not only affected by its within-trial reliability but also the history of errors.

Development of the motor system lags behind that of the visual system and might delay some visual properties more closely linked to action. We measured the developmental trajectory of the discrimination of object size from observation of the biological motion of a grasping action in egocentric and allocentric viewpoints (observing action of others or self), in children and adolescents from 5 to 18 years of age. Children of 5-7 years of age performed the task at chance, indicating a delayed ability to understand the goal of the action. We found a progressive improvement in the ability of discrimination from 9 to 18 years, which parallels the development of fine motor control. Only after 9 years of age did we observe an advantage for the egocentric view, as previously reported for adults. Given that visual and haptic sensitivity of size discrimination, as well as biological motion, are mature in early adolescence, we interpret our results as reflecting immaturity of the influence of the motor system on visual perception.

Relative visual information has been shown to mediate grasping responses directed to an area previously occupied by a target object (i.e., pantomime-grasping) and is an information type functionally distinct from the absolute visual information supporting naturalistic grasping (i.e., grasping a physical target). Pantomime- and naturalistic grasps differ not only in terms of their visual properties, but also because the former lacks physical interaction with a target object (i.e., no-haptic feedback). The absence of haptic feedback may represent a reason why pantomime- and naturalistic grasps differ. To address this issue, participants completed pantomime-grasps to objects embedded in fins-in and fins-out configurations of the Müller-Lyer (ML) illusion following a 2000-ms visual delay when haptic feedback was unavailable (H- condition), and when experimentally induced (H+ condition). In particular, in the H+ condition the experimenter placed a physical target object between participants' thumb and forefinger after they completed their grasping response. H- and H+ conditions were performed when online vision was available (i.e., Experiment 1) and when withdrawn (i.e., Experiment 2). If haptic feedback influences grasping, then the absolute information afforded from physically touching a target object (i.e., the H+ condition) should result in aperture metrics that are refractory-or attenuated-to the relative properties of the ML figures. Grip apertures in H- and H+ conditions were "tricked" in a direction consistent with the perceptual effects of the ML illusion; however, Experiment 2 showed that illusory effects were attenuated in the H+ condition. In other words, responses without online vision showed evidence of a visuo-haptic calibration. These results provide convergent evidence that haptic and visual feedback play a salient role in considering the extant literature's documented report of kinematic differences between pantomime- and naturalistic grasps.

International audience; Previous work has highlighted the role of haptic feedback for manual dexterity, in particular for the control of precision grip forces between the index finger and thumb. It is unclear how fine motor skills involving more than just two digits might be affected, especially given that loss of sensation from the hand affects many neurological patients, and impacts on everyday actions. To assess the functional consequences of haptic deficits on multi-digit grasp of objects, we studied the ability of three rare individuals with permanent large-fibre sensory loss involving the entire upper limb. All three reported difficulties in everyday manual actions (ABILHAND questionnaire). Their performance in a reach–grasp–lift task was compared to that of healthy controls. Twenty objects of varying shape, mass, opacity and compliance were used. In the reach-to-grasp phase, we found slower movement, larger grip aperture and less dynamic modulation of grip aperture in deafferented participants compared to controls. Hand posture during the lift phase also differed; deafferented participants often adopted hand postures that may have facilitated visual guidance, and/or reduced control complexity. For example, they would extend fingers that were not in contact with the object, or fold these fingers into the palm of the hand. Variability in hand postures was increased in deafferented participants, particularly for smaller objects. Our findings provide new insights into how the complex control required for whole hand actions is compromised by loss of haptic feedback, whose contribution is, thus, highlighted.

Flexibility is a fundamental hallmark of perceptual systems. In particular, there is a great deal of flexibility in the ability to perceive properties of occluded objects by effortful or dynamic touch-hefting, wielding, or otherwise manipulating those objects by muscular effort. Perception of length of an occluded wielded object is comparable when that object is wielded by anatomical components that differ in sensitivity, dexterity, and functionality. Moreover, perception of this property is supported by an analogous sensitivity to inertial properties across such components. We investigated the ability to perceive whole and partial length of an object wielded by hand or by head. Experiment 1 found that perception of length by these anatomical components is qualitatively and quantitatively indistinguishable. Experiment 2 found that perception of length is supported by the same specific sensitivity to inertial properties in each case. Experiment 3 found that perception of whole length and partial length are each supported by specific sensitivities to inertial properties and that this is the case for both hand and by head. The results are discussed in the context of the nature of the stimulation patterns and the organization of the haptic system that are likely to support such flexibility in perception.

Contains fulltext : 159787.pdf (Publisher’s version ) (Closed access) The present study investigated whether special haptic or visual feedback would facilitate the coordination of in-phase, cyclical feet movements of different amplitudes. Seventeen healthy participants sat with their feet on sliding panels that were moved externally over the same or different amplitudes. The participants were asked to generate simultaneous knee flexion-extension movements, or to let their feet be dragged, resulting in reference foot displacements of 150 mm and experimental foot displacements of 150, 120, or 90 mm. Four types of feedback were given: (1) special haptic feedback, involving actively following the motions of the sliders manipulated by two confederates, (2) haptic feedback resulting from passive motion, (3) veridical visual feedback, and (4) enhanced visual feedback. Both with respect to amplitude assimilation effects, correlations and standard deviation of relative phase, the results showed that enhanced visual feedback did not facilitate bipedal independence, but haptic feedback with active movement did. Implications of the findings for movement rehabilitation contexts are discussed. 13 p.

We investigated grouping by similarity of surface roughness in the context of task difficulty. We hypothesized that grouping yields a larger benefit at higher levels of task complexity, because efficient processing is more helpful when more cognitive resources are needed to execute a task. Participants searched for a patch of a different roughness as compared to the distractors in two strips of similar or dissimilar roughness values. We reasoned that if the distractors could be grouped based on similar roughness values, exploration time would be shorter and fewer errors would occur. To manipulate task complexity, we varied task difficulty (high target saliency equalling low task difficulty), and we varied the fingers used to explore the display (two fingers of one hand being more cognitive demanding than two fingers of opposite hands). We found much better performance in the easy condition as compared to the difficult condition (in both error rates and mean search slopes). Moreover, we found a larger effect for the similarity manipulation in the difficult condition as compared to the easy condition. Within the difficult condition, we found a larger effect for the one-hand condition as compared to the two-hand condition. These results show that haptic search is accelerated by the use of grouping by similarity of surface roughness, especially when the task is relatively complex. We conclude that the effect of perceptual grouping is more prominent when more cognitive resources are needed to perform a task.

Despite attentional prioritization for grasping space near the hands, tool-use appears to transfer attentional bias to the tool's end/functional part. The contributions of haptic and visual inputs to attentional distribution along a tool were investigated as a function of tool-use in near (Experiment 1) and far (Experiment 2) space. Visual attention was assessed with a 50/50, go/no-go, target discrimination task, while a tool was held next to targets appearing near the tool-occupied hand or tool-end. Target response times (RTs) and sensitivity (d-prime) were measured at target locations, before and after functional tool practice for three conditions: (1) open-tool: tool-end visible (visual + haptic inputs), (2) hidden-tool: tool-end visually obscured (haptic input only), and (3) short-tool: stick missing tool's length/end (control condition: hand occupied but no visual/haptic input). In near space, both open- and hidden-tool groups showed a tool-end, attentional bias (faster RTs toward tool-end) before practice; after practice, RTs near the hand improved. In far space, the open-tool group showed no bias before practice; after practice, target RTs near the tool-end improved. However, the hidden-tool group showed a consistent tool-end bias despite practice. Lack of short-tool group results suggested that hidden-tool group results were specific to haptic inputs. In conclusion, (1) allocation of visual attention along a tool due to tool practice differs in near and far space, and (2) visual attention is drawn toward the tool's end even when visually obscured, suggesting haptic input provides sufficient information for directing attention along the tool.

Touch receptors in the skin can relay various forms of abstract information, such as words (Braille), haptic feedback (cell phones, game controllers, feedback for prosthetic control), and basic visual information such as edges and shape (sensory substitution devices). The skin can support such applications with ease: They are all low bandwidth and do not require a fine temporal acuity. But what of high-throughput applications? We use sound-to-touch conversion as a motivating example, though others abound (e.g., vision, stock market data). In the past, vibrotactile hearing aids have demonstrated improvement in speech perceptions in the deaf. However, a sound-to-touch sensory substitution device that works with high efficacy and without the aid of lipreading has yet to be developed. Is this because skin simply does not have the capacity to effectively relay high-throughput streams such as sound? Or is this because the spatial and temporal properties of skin have not been leveraged to full advantage? Here, we begin to address these questions with two experiments. First, we seek to determine the best method of relaying information through the skin using an identification task on the lower back. We find that vibrotactile patterns encoding information in both space and time yield the best overall information transfer estimate. Patterns encoded in space and time or “intensity” (the coupled coding of vibration frequency and force) both far exceed performance of only spatially encoded patterns. Next, we determine the vibrotactile two-tacton resolution on the lower back—the distance necessary for resolving two vibrotactile patterns. We find that our vibratory motors conservatively require at least 6 cm of separation to resolve two independent tactile patterns (>80 % correct), regardless of stimulus type (e.g., spatiotemporal “sweeps” versus single vibratory pulses). Six centimeter is a greater distance than the inter-motor distances used in Experiment 1 (2.5 cm), which explains the poor identification performance of spatially encoded patterns. Hence, when using an array of vibrational motors, spatiotemporal sweeps can overcome the limitations of vibrotactile two-tacton resolution. The results provide the first steps toward obtaining a realistic estimate of the skin’s achievable throughput, illustrating the best ways to encode data to the skin (using as many dimensions as possible) and how far such interfaces would need to be separated if using multiple arrays in parallel.

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

The Dual Visuomotor Channel theory posits that reaching consists of two movements mediated by separate but interacting visuomotor pathways that project from occipital to parietofrontal cortex. The Reach transports and orients the hand to the target while the Grasp opens and closes the hand for target purchase. Adults rely on foveal vision to synchronize the Reach and the Grasp so that the hand orients, opens, and largely closes by the time it gets to the target. Young infants produce discrete preReach and preGrasp movements, but it is unclear how these movements become synchronized under visual control throughout development. High-speed 3-D video recordings and linear kinematics were used to analyze reaching components, hand orientation, hand aperture, and grasping strategy in infants aged 4-24 months compared with adults who reached with and without vision. Infants aged 4-8 months resembled adults reaching without vision; in that, they delayed both Reach orientation and Grasp closure until after target contact, suggesting that they relied primarily on haptic cues to guide reaching. Infants aged 9-24 months oriented the Reach prior to target contact, but continued to delay the majority of Grasp closure until after target contact, suggesting that they relied on vision for the Reach versus haptics for the Grasp. Changes in sensorimotor control were associated with sequential Reach and Grasp configurations in early infancy versus partially synchronized Reach and Grasp configurations in later infancy. The results argue that (1) haptic inputs likely contribute to the initial development of separate Reach and Grasp pathways in parietofrontal cortex; (2) the Reach and the Grasp are adaptively uncoupled during development, likely to capitalize on different sensory inputs at different developmental stages; and (3) the developmental transition from haptic to visual control is asymmetrical with visual guidance of the Reach preceding that of the Grasp.

Extensive use of sensorimotor properties has been shown to lead to use-dependent plasticity in the human motor cortex as well as sensory areas. The sensory consequences of these cortical changes, however, remain widely unclear. We were interested whether job-related long-term haptic training is measurable in terms of changes in haptic perception (active touch exploration) in manual physiotherapists (PT). To that end, the haptic thresholds of PT (students and employed) and registered osteopathic manual therapists (OMT; PT with postgraduate specialization) were measured and compared to age- and sex-matched control groups. Additionally, tactile acuity (passive static touch) was assessed using grating domes. PT and OMT had superior mean haptic thresholds compared to the control group, suggesting an increase in sensitivity through use. An age-related decline in haptic perception capacity occurred only in the control group, suggesting that the job-related training of the manual therapist groups may have slowed their age-related decline. Contrary to our expectation, we found significantly poorer mean haptic threshold results in the PT student group than for the controls. No significant differences or changes in tactile acuity were found for any of the groups (students and professional). The present results demonstrate use-dependent plasticity in manual therapists. Furthermore, the results underline the known effect of a superior discrimination ability of haptic as opposed to tactile perception.

Haptic guidance has been shown to interfere with learning a novel visuo-motor rotation. Here, we ask whether this interference is specific to the learning of visuo-motor transformations or whether it is a more generalized phenomenon of learning spatial movement characteristics. Participants practiced to make movements at an angle of 75° relative to target directions with and without haptic path guidance. Test trials without guidance and without visual feedback revealed poorer performance after haptic guidance practice than in the no-guidance control group, even though during guided practice movement directions were more accurate than during unguided practice. The more precise directions during guided practice were associated with shorter movement latencies than in the control group, suggesting an incomplete rotation of the movement direction relative to the direction of the visual target. A detailed analysis of the first few millimeters of each movement revealed that the initial movement direction was indeed rotated too little, and the correct direction was adopted only gradually under the influence of haptic guidance. These findings support the perspective on motor learning as a process that is driven by consequent improvements of performance and that is compromised by factors that serve to improve performance even without learning. Haptic guidance is one such factor.

This study examined the extent to which haptic perception of two-dimensional (2-D) shape is modified by the design of the perceptual task (single-interval categorization vs. two-interval discrimination), the orientation of the angles in space (oblique vs. horizontal), and the exploration strategy (one or two passes over the angle). Subjects (n = 12) explored 2-D angles using the index finger of the outstretched arm. In the categorization task, subjects scanned individual angles, categorizing each as "large" or "small" (2 angles presented in each block of trials; range 80° vs. 100° to 89° vs. 91°; implicit standard 90°). In the discrimination task, a pair of angles was scanned (standard 90°; comparison 91-103°) and subjects identified the larger angle. The threshold for 2-D angle categorization was significantly lower than for 2-D angle discrimination, 4° versus 7.2°. Performance in the categorization task did not vary with either the orientation of the angles (horizontal vs. oblique, 3.9° vs. 4°) or the number of passes over the angle (1 vs. 2 passes, 3.9° vs. 4°). We suggest that the lower threshold with angle categorization likely reflects the reduced cognitive demands of this task. We found no evidence for a haptic oblique effect (higher threshold with oblique angles), likely reflecting the presence of an explicit external frame of reference formed by the intersection of the two bars forming the 2-D angles. Although one-interval haptic categorization is a more sensitive method for assessing 2-D haptic angle perception, perceptual invariances for exploratory strategy and angle orientation were, nevertheless, task-independent.

Right-hand preference has been demonstrated for visually guided reaching and grasping. Grasping, however, requires the integration of both visual and haptic cues. To what extent does vision influence hand preference for grasping? Is there a hand preference for haptically guided grasping? Two experiments were designed to address these questions. In Experiment 1, individuals were tested in a reaching-to-grasp task with vision (sighted condition) and with hapsis (blindfolded condition). Participants were asked to put together 3D models using building blocks scattered on a tabletop. The models were simple, composed of ten blocks of three different shapes. Starting condition (Vision-First or Hapsis-First) was counterbalanced among participants. Right-hand preference was greater in visually guided grasping but only in the Vision-First group. Participants who initially built the models while blindfolded (Hapsis-First group) used their right hand significantly less for the visually guided portion of the task. To investigate whether grasping using hapsis modifies subsequent hand preference, participants received an additional haptic experience in a follow-up experiment. While blindfolded, participants manipulated the blocks in a container for 5 min prior to the task. This additional experience did not affect right-hand use on visually guided grasping but had a robust effect on haptically guided grasping. Together, the results demonstrate first that hand preference for grasping is influenced by both vision and hapsis, and second, they highlight how flexible this preference could be when modulated by hapsis.

The present study was designed to assess whether the visibility of ones' own exploratory movements impairs or enhances perceptual speed and precision of haptic stimuli with varying complexity. Previous studies have shown that noninformative vision of steady surroundings improves haptic spatial perception. However, due to the serial nature of haptic processing and limited capacity of working memory resources, we hypothesized that noninformative vision of limb movements may impair haptic perception. The study sample consisted of ninety-eight healthy adults who were randomized into two groups, matched for sex and age. Participants were required to explore two-dimensional haptic stimuli with varying complexity and to recognize them visually. The difference between the two experimental groups was a screen that would prevent the participants from viewing their hands during exploration in the nonobservation condition (NonOb). The other half of participants were able to see their hands in the manual movement observation condition (MovOb) thanks to the special design of the stimuli. As hypothesized, the persons in the MovOb condition made significantly more errors. The difference in error frequency between participants of the MovOb and NonOb condition was greater for complex stimuli than for simple ones. These results suggest that incoming visual information about own manual exploration movements increases competitive pressure for limited working memory resources, and therefore, more recognition errors are made. Covering the hands during exploration may constitute a helpful simplification of the task's demands by supporting the maintenance of information in working memory. Additionally, the relation of haptic complexity and stimulus characteristics was analyzed.

The present study investigated haptic spatial orientation processing in deaf signers, hearing sign language interpreters, and hearing controls. Blindfolded participants had to set two bars parallel in the horizontal plane, with either a 2-s or a 10-s delay between inspection of the reference bar and the setting of the test bar. The deaf group outperformed the other two groups which did not differ from each other. Together these results indicate that deaf individuals can better identify the allocentric spatial coordinates of haptically inspected orientations. These results are discussed in terms of the possible neurocognitive consequences of auditory deprivation. © 2013 Springer-Verlag Berlin Heidelberg.

When two or more people aim to produce joint action outcomes they need to coordinate their individual actions in space and time. Successful joint action performance has been reported to depend, among others, on visual and somatosensory information provided to the joint actors. This study investigated whether and how the systematic manipulation of visual information modulates real-time joint action when dyads performed a whole-body joint balance task. To this end, we introduced the Joint Action Board (JAB) where partners guided a ball through a maze towards a virtual hole by jointly shifting their weight on the board under three visual conditions: (1) the Follower had neither visual access to the Leader nor to the maze; (2) the Follower had no visual access to the maze but to the Leader; (3) the Follower had full visual access to both the Leader and to the maze. Joint action performance was measured as completion time of the maze task; interpersonal coordination was examined by means of kinematic analyses of both partners' motor behaviour. We predicted that systematically adding visual to the available haptic information would result in a significant increase in joint performance and that Leaders would change their coordination behavior depending on these conditions. Results showed that adding visual information to haptics led to an increase in joint action performance in a Leader-Follower relationship in a joint balance task. In addition, interpersonal coordination behavior (i.e. sway range of motion, time-lag between partner's bodies etc.) changed dependent on the provided visual information between partners in the jointly executed task.

There are different ways to add haptic input during walking which may affect walking balance. This study compared the use of two different haptic tools (rigid railing and haptic anchors) and investigated whether any effects on walking were the result of the added sensory input and/or the posture generated when using those tools. Data from 28 young healthy adults were collected using the Mobility Lab inertial sensor system (APDM, Oregon, USA). Participants walked with and without both haptic tools and while pretending to use both haptic tools (placebo trials), with eyes opened and eyes closed. Using the tools or pretending to use both tools decreased normalized stride velocity (p .001-0.008) and peak medial-lateral (ML) trunk velocity (p .001-0.001). Normalized stride velocity was slower when actually using the railing compared to placebo railing trials (p = .006). Using the anchors resulted in lower peak ML trunk velocity than the railing (p = .002). The anchors had lower peak ML trunk velocity than placebo anchors (p .001), but there was no difference between railing and placebo railing (p .999). These findings highlight a difference in the type of tool used to add haptic input and suggest that changes in balance control strategy resulting from using the railing are based on arm placement, where it is the posture combined with added sensory input that affects balance control strategies with the haptic anchors. These findings provide a strong framework for additional research to be conducted on the effects of haptic input on walking in populations known to have decreased walking balance.

In the flash-lag illusion, a brief visual flash and a moving object presented at the same location appear to be offset with the flash trailing the moving object. A considerable amount of studies investigated the visual flash-lag effect, and flash-lag-like effects have also been observed in audition, and cross-modally between vision and audition. In the present study, we investigate whether a similar effect can also be observed when using only haptic stimuli. A fast vibration (or buzz, lasting less than 20 ms) was applied to the moving finger of the observers and employed as a “haptic flash.” Participants performed a two-alternative forced-choice (2AFC) task where they had to judge whether the moving finger was located to the right or to the left of the stationary finger at the time of the buzz. We used two different movement velocities (Slow and Fast conditions). We found that the moving finger was systematically misperceived to be ahead of the stationary finger when the two were physically aligned. This result can be interpreted as a purely haptic analogue of the flash-lag effect, which we refer to as “buzz-lag effect.” The buzz-lag effect can be well accounted for by the temporal-sampling explanation of flash-lag-like effects.

Neural processes of sensory-motor- and motor-sensory integration link perception and action, forming the basis for human interaction with the environment. Haptic perception, the ability to extract object features through action, is based on these processes. To study the development of motor-sensory integration, children judged the curvature of virtual objects after exploring them actively or while guided passively by a robot. Haptic acuity reached adult levels only at early adolescence. Unlike in adults, haptic precision in children was consistently lower during active exploration when compared to passive motion. Thus, the exploratory movements themselves constitute a form of noise for the developing haptic system that younger brains cannot compensate until mid-adolescence. Computationally, this is consistent with a noisy efference copy mechanism producing imprecise predicted sensory feedback, which compromises haptic precision in children, while the mature mechanism aids the adult brain to account for the effect of self-generated motion on perception.

The cognitive trait of hypnotizability modulates sensorimotor integration and mental imagery. In particular, earlier results show that visual recognition of 'nonmeaningful', unfamiliar objects bimanually explored is faster and more accurate in subjects with high (Highs) than with low hypnotizability (Lows). The present study was aimed at investigating whether Highs exhibit a similar advantage after unimanual exploration. Recognition frequency (RF) and Recognition time (RT) of correct recognitions of the explored objects were recorded. The results showed the absence of any hypnotizability-related difference in recognition frequencies. In addition, RF of the right and left hand was comparable in Highs as in Lows, while slight differences were found in RT. We suggest that hemispheric co-operation played a key role in the better performance of Highs in the bimanual task previously studied. In the unimanual exploration, the task's characteristics (favoring the left hand), hypnotizability-related cerebral asymmetry (favoring the right hand in Highs) and the possible preferential verbal style of recognition in Lows (favoring the right hand in this group) antagonize each other and prevent the occurrence of major differences between the performance of Highs and Lows.

Availability of fingertip touch onto a stable surface reduces body sway for subjects standing with eyes closed. This is largely associated with sensory feedback from the fingertip when mechanical load is limited. Here, it is possible that the central nervous system facilitates cortical sensory processing to augment feedback to control upright stance. To test this, we compared cortical sensory excitability between tasks with and without light finger touch while standing. Subjects stood in tandem on a force plate with eyes closed while lightly touching a stable surface with the index finger. This was, in two different studies, compared to: (1) no haptic contact or (2) light touch on an object not referenced to balance. Throughout testing, the median nerve was stimulated and electroencephalography was used to measure somatosensory evoked potentials (SEPs). As expected, availability of stable light touch reduced medial-lateral COP sway. Peak amplitudes for SEP components revealed reduced P100 (48%), but increased P50 (31%), N140 (80%), and P200 (20%) during stable touch versus no touch. The modulation of P50 and N140 was no longer present when comparing stable to control (touch), which suggested that attending to touch on either surface, regardless of stability reference, accounted for these changes. Conversely, P200 was increased (19%) when touching the stable surface. Our data show SEP modulation during a standing balance task related to hand contact. Facilitation of P200 in particular may indicate task-specific regulation of the cortical representation of fingertip afferent input when it is relevant to providing stable cues for static balance control.

Visual imagery comprises object and spatial dimensions. Both types of imagery encode shape but a key difference is that object imagers are more likely to encode surface properties than spatial imagers. Since visual and haptic object representations share many characteristics, we investigated whether haptic and multisensory representations also share an object-spatial continuum. Experiment 1 involved two tasks in both visual and haptic within-modal conditions, one requiring discrimination of shape across changes in texture, the other discrimination of texture across changes in shape. In both modalities, spatial imagers could ignore changes in texture but not shape, whereas object imagers could ignore changes in shape but not texture. Experiment 2 re-analyzed a cross-modal version of the shape discrimination task from an earlier study. We found that spatial imagers could discriminate shape across changes in texture but object imagers could not; and that the more one preferred object imagery, the more texture changes impaired discrimination. These findings are the first evidence that object and spatial dimensions of imagery can be observed in haptic and multisensory representations.

To investigate whether the relative positions of the fingers influence tactile localization, participants were asked to localize tactile stimuli applied to their fingertips. We measured the location and rate of errors for three finger configurations: fingers stretched out and together so that they are touching each other, fingers stretched out and spread apart maximally and fingers stretched out with the two hands on top of each other so that the fingers are interwoven. When the fingers contact each other, it is likely that the error rate to the adjacent fingers will be higher than when the fingers are spread apart. In particular, we reasoned that localization would probably improve when the fingers are spread. We aimed at assessing whether such adjacency was measured in external coordinates (taking proprioception into account) or on the body (in skin coordinates). The results confirmed that the error rate was lower when the fingers were spread. However, there was no decrease in error rate to neighbouring fingertips in the fingers spread condition in comparison with the fingers together condition. In an additional experiment, we showed that the lower error rate when the fingers were spread was not related to the continuous tactile input from the neighbouring fingers when the fingers were together. The current results suggest that information from proprioception is taken into account in perceiving the location of a stimulus on one of the fingertips. © 2010 The Author(s).

Visual judgment of small numerosities (

Using a sequential-exposure approach, we examined sensorimotor adaptation of precision grip orientation to a visuo-haptic mismatch. Subjects (n = 41) were asked to grasp with thumb and index finger mirror-viewed objects. They could not see their hand due to the mirror, but they could feel an object located behind the mirror in the same place as the viewed object. When a -15 degrees orientation mismatch between viewed and felt object was introduced, subjects adapted to it by gradually modifying the orientation of their finger opposition axis. When the visuo-haptic mismatch further changed to -30 degrees or to +15 degrees , subjects continued to perform according to their pre-established adaptive state, and gradually modified it until it became adequate for the new mismatch. This outcome supports the existence of a continuously acting mechanism for grasping adaptation, similar to that previously described for pointing and tracking adaptation. Precision grip adaptation generalized to unpracticed object orientations, which suggests that adaptation was based on a sensorimotor recalibration rather than the learning of specific stimulus-response pairs. Transfer to pointing movements was found only when similarity to the grasp adaptation task was high.

We investigated the contribution of haptic and visual information about object size to both perception and action. Kinematics of the right hand were measured while participants performed grasping actions or manual estimations under the guidance of haptic information from the left hand, binocular visual information, or both haptics and vision. The greatest uncertainty was observed with haptic information alone. Moreover, when visual and haptic sizes were congruent, performance was no different from that with vision alone. Although this gives the appearance that vision dominates, when information from the two senses was incongruent, an influence of haptic cues emerged for both tasks. Our paradigm also allowed us to demonstrate that haptic sensitivity, like visual sensitivity, scales with object size for manual estimation (consistent with Weber's law) but not for grasping. In sum, although haptics represents a less certain source of information, haptic processing follows similar principles to vision and its contribution to perception and action becomes evident only when cross-modal information is incongruent.

This study aims to quantify the separate contributions of muscle force feedback, muscle spindle activity and co-contraction to the performance of voluntary tasks (“reduce the influence of perturbations on maintained force or position”). Most human motion control studies either isolate only one contributor, or assume that relevant reflexive feedback pathways during voluntary disturbance rejection tasks originate mainly from the muscle spindle. Human ankle-control experiments were performed, using three task instructions and three perturbation characteristics to evoke a wide range of responses to force perturbations. During position tasks, subjects (n = 10) resisted the perturbations, becoming more stiff than when being relaxed (i.e., the relax task). During force tasks, subjects were instructed to minimize force changes and actively gave way to imposed forces, thus becoming more compliant than during relax tasks. Subsequently, linear physiological models were fitted to the experimental data. Inhibitory, as well as excitatory force feedback, was needed to account for the full range of measured experimental behaviors. In conclusion, force feedback plays an important role in the studied motion control tasks (excitatory during position tasks and inhibitory during force tasks), implying that spindle-mediated feedback is not the only significant adaptive system that contributes to the maintenance of posture or force.

Most object manipulation tasks involve a series of actions demarcated by mechanical contact events, and gaze is typically directed to the locations of these events as the task unfolds. Here, we examined the timing of gaze shifts relative to hand movements in a task in which participants used a handle to contact sequentially five virtual objects located in a horizontal plane. This task was performed both with and without visual feedback of the handle position. We were primarily interested in whether gaze shifts, which in our task shifted from a given object to the next about 100 ms after contact, were predictive or triggered by tactile feedback related to contact. To examine this issue, we included occasional catch contacts where forces simulating contact between the handle and object were removed. In most cases, removing force did not alter the timing of gaze shifts irrespective of whether or not vision of handle position was present. However, in about 30% of the catch contacts, gaze shifts were delayed. This percentage corresponded to the fraction of contacts with force feedback in which gaze shifted more than 130 ms after contact. We conclude that gaze shifts are predictively controlled but timed so that the hand actions around the time of contact are captured in central vision. Furthermore, a mismatch between the expected and actual tactile information related to the contact can lead to a reorganization of gaze behavior for gaze shifts executed greater than 130 ms after a contact event.

We studied the influence of haptics on visual perception of three-dimensional shape. Observers were shown pictures of an oblate spheroid in two different orientations. A gauge-figure task was used to measure their perception of the global shape. In the first two sessions only vision was used. The results showed that observers made large errors and interpreted the oblate spheroid as a sphere. They also misinterpreted the rotated oblate spheroid for a prolate spheroid. In two subsequent sessions observers were allowed to touch the stimulus while performing the task. The visual input remained unchanged: the observers were looking at the picture and could not see their hands. The results revealed that observers perceived a shape that was different from the vision-only sessions and closer to the veridical shape. Whereas, in general, vision is subject to ambiguities that arise from interpreting the retinal projection, our study shows that haptic input helps to disambiguate and reinterpret the visual input more veridically.

When humans explore the external world, hand and arm movements play important roles. Spatio-temporal arrangements of the environment are perceptually generated mainly by means of the sensory-motor integration of the internal model of these movements with the information obtained during the movements. In order to investigate the mechanisms of this integration process, localization tasks have been studied, and previous studies have suggested that the integration process does not work properly around the time of a hand movement. In particular, when a transient vibro-tactile stimulation is presented before, during, or after a hand movement, the stimulus is systematically mislocalized. However, it is debatable whether the tendency to mislocalize a transient stimulus indicates a general failure of the sensory-motor integration process. Here we investigated the generality of the tendency towards mislocalization by observing haptic localizations to different target types, the onset and offset of continuous vibro-tactile stimuli. We found similar types of mislocalizations in responses to the transient vibration and the onset of a continuous vibration, and a clear difference in the types of mislocalizations in responses to the onset and offset of continuous vibrations.

When performing everyday tasks, we often move our eyes and hand together: we look where we are reaching in order to better guide the hand. This coordinated pattern with the eye leading the hand is presumably optimal behaviour. But eyes and hands can move to different locations if they are involved in different tasks. To find out whether this leads to optimal performance, we studied the combination of visual and haptic search. We asked ten participants to perform a combined visual and haptic search for a target that was present in both modalities and compared their search times to those on visual only and haptic only search tasks. Without distractors, search times were faster for visual search than for haptic search. With many visual distractors, search times were longer for visual than for haptic search. For the combined search, performance was poorer than the optimal strategy whereby each modality searched a different part of the display. The results are consistent with several alternative accounts, for instance with vision and touch searching independently at the same time.

Are humans able to perceive the circularity of a cylinder that is grasped by the hand? This study presents the findings of an experiment in which cylinders with a circular cross-section had to be distinguished from cylinders with an elliptical cross-section. For comparison, the ability to distinguish a square cuboid from a rectangular cuboid was also investigated. Both elliptical and rectangular shapes can be characterized by the aspect ratio, but elliptical shapes also contain curvature information. We found that an elliptical shape with an aspect ratio of only 1.03 could be distinguished from a circular shape both in static and dynamic touch. However, for a rectangular shape, the aspect ratio needed to be about 1.11 for dynamic touch and 1.15 for static touch in order to be discernible from a square shape. We conclude that curvature information can be employed in a reliable and efficient manner in the perception of 3D shapes by touch.

The maximum grip aperture (MGA) during prehension is linearly related to the size of objects to be grasped and is adapted to the haptically sensed object size when there is a discrepancy between visual and haptic information. We have investigated what information is used to drive this adaptation process and how the onset of fingertip forces on the object is triggered. Subjects performed a reach-to-grasp task, where the object seen and the object grasped physically never were the same. We measured the movements of the index finger and the thumb and the contact forces between each fingertip and the object. The subjects' adaptation of the MGA was unrelated both to different fingertip velocities at the moment of object contact, or the fingertip forces. Instead, the 'timing' of contact between the fingers and the object was most consistently influenced by introducing a size discrepancy. Specifically, if the object was larger than expected, the moment of contact occurred earlier, and if the object was decreased in size, then the contact occurred later. During adaptation, these timing differences were markedly reduced. Also, the motor command for applying forces on the object seemed to be released in anticipation of the predicted moment of contact. We therefore conclude that the CNS dynamically predicts when contact between the fingertips and objects occur and that aperture adaptation is primarily driven by timing prediction errors.