Spatial perception of our hand is closely linked to our ability to move the hand accurately. We might therefore expect that reach planning would take into account any changes in perceived hand position; in other words, that perception and action relating to the hand should depend on a common sensorimotor map. However, there is evidence to suggest that changes in perceived hand position affect a body representation that functions separately from the body representation used to control movement. Here, we examined target-directed reaching before and after participants either did (Mismatch group) or did not (Veridical group) experience a cue conflict known to elicit recalibration in perceived hand position. For the reaching task, participants grasped a robotic manipulandum that positioned their unseen hand for each trial. Participants then briskly moved the handle straight ahead to a visual target, receiving no performance feedback. For the perceptual calibration task, participants estimated the locations of visual, proprioceptive, or combined cues about their unseen hand. The Mismatch group experienced a gradual 70-mm forward mismatch between visual and proprioceptive cues, resulting in forward proprioceptive recalibration. Participants made significantly shorter reaches after this manipulation, consistent with feeling their hand to be further forward than it was, but reaching performance returned to baseline levels after only 10 reaches. The Veridical group, after exposure to veridically aligned visual and proprioceptive cues about the hand, showed no change in reach distance. These results suggest that perceptual recalibration affects the same sensorimotor map that is used to plan target-directed reaches. NEW & NOTEWORTHY If perceived hand position changes, we might assume this affects the sensorimotor map and, in turn, reaches made with that hand. However, there is evidence for separate body representations involved in perception versus action. After a cross-sensory conflict that results in proprioceptive recalibration in the forward direction, participants made shorter reaches as predicted, but only briefly. This suggests perceptual recalibration does affect the sensorimotor map used to plan reaches, but the interaction may be short-lived.
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Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation
In this paper, we design and evaluate a novel form of visually-simulated haptic feedback cue for communicating weight in robot teleoperation. We propose that a visuo-proprioceptive cue results from inconsistencies created between the user's visual and proprioceptive senses when the robot's movement differs from the movement of the user's input. In a user study where participants teleoperate a six-DoF robot arm, we demonstrate the feasibility of using such a cue for communicating weight in four telemanipulation tasks to enhance user experience and task performance.
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- Award ID(s):
- 1830242
- NSF-PAR ID:
- 10172191
- Date Published:
- Journal Name:
- HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction
- Page Range / eLocation ID:
- 509 to 517
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1145/3319502.3374841
