ABSTRACTHand movements are essential for tactile perception of objects. However, why different individuals converge on specific movement patterns is not yet clear. Focusing on planar shape perception, we tracked the hands of 11 participants while they practiced shape recognition. Our results show that planar shape perception is mediated by contour-following movements, either tangential to the contour or spatially-oscillating perpendicular to it, and by scanning movements, crossing between distant parts of the shapes’ contour. Both strategies exhibited non-uniform coverage of the shapes’ contours. We found that choice of strategy during the first experimental session was strongly correlated with two idiosyncratic parameters: participants with lower tactile resolution tended to move faster; and faster-adapting participants tended to employ oscillatory movements more often. In addition, practicing on isolated geometric features increased the tendency to use the contour-following strategy. These results provide insights into the processes of strategy selection in tactile perception.SIGNIFICANCE STATMENTHand movements are integral components of tactile perception. Yet, the specific motion strategies used to perceive specific objects and features, and their dependence on physiological features and on experience, are understudied. Focusing on planar shape perception and using high-speed hand tracking we show that human participants employ two basic palpation strategies: Contour-following and scanning. We further show that the strategy chosen by each participant and its kinematics depend strongly on the participant’s physiological thresholds – indicative of spatial resolution and temporal adaptation - and on their perceptual experience.
Self-Localization of Mobile Robots Using a Single Catadioptric Camera with Line Feature Extraction
