Biomedical subjects

R L Klatzky

Publications and source records attributed to R L Klatzky.

At least 19 recordsLinked to original sources

PubMed2001

Navigating without vision: basic and applied research.

We describe some of the results of our program of basic and applied research on navigating without vision. One basic research topic that we have studied extensively is path integration, a form of navigation in which perceived self-motion is integrated over time to obtain an estimate of current position and orientation. In experiments on pathway completion, one test of path integration ability, we have found that subjects who are passively guided over the outbound path without vision exhibit significant errors when attempting to return to the origin but are nevertheless sensitive to turns and segment lengths in the stimulus path. We have also found no major differences in path integration ability among blind and sighted populations. A model we have developed that attributes errors in path integration to errors in encoding the stimulus path is a good beginning toward understanding path integration performance. In other research on path integration, in which optic flow information was manipulated in addition to the proprioceptive and vestibular information of nonvisual locomotion, we have found that optic flow is a weak input to the path integration process. In other basic research, our studies of auditory distance perception in outdoor environments show systematic underestimation of sound source distance. Our applied research has been concerned with developing and evaluating a navigation system for the visually impaired that uses three recent technologies: the Global Positioning System, Geographic Information Systems, and virtual acoustics. Our work shows that there is considerable promise of these three technologies in allowing visually impaired individuals to navigate and learn about unfamiliar environments without the assistance of human guides.

Animals↗

PubMed2001

Active control of locomotion facilitates nonvisual navigation.

In some navigation tasks, participants are more accurate if they view the environment beforehand. To characterize the benefits associated with visual previews, 32 blindfolded participants were guided along simple paths and asked to walk unassisted to a specified destination (e.g., the origin). Paths were completed without vision, with or without a visual preview of the environment. Previews did not necessarily improve nonvisual navigation. When previewed landmarks stood near the origin or at off-path locations, they provided little benefit; by contrast, when they specified intermediate destinations (thereby increasing the degree of active control), performance was greatly enhanced. The results suggest that the benefit of a visual preview stems from the information it supplies for actively controlled locomotion. Accuracy in reaching the final destination, however, is strongly contingent upon the destination's location during the preview.

Adolescent↗

PubMed2000

Path integration while ignoring irrelevant movement.

Participants attempted to return to the origin of travel after following an outbound path by locomotion on foot (Experiments 1-3) or in a virtual visual environment (Experiment 4). Critical conditions interrupted the outbound path with verbal distraction or irrelevant, to-be-ignored movements. Irrelevant movement, real or virtual, had greater effects than verbal or cognitive distraction, indicating inability to ignore displacement during path integration. Effects of the irrelevant movement's direction (backward vs. rightward) and location (1st vs. 2nd leg of path) indicated that participants encoded a configural representation of the pathway and then cognitively compensated for the movement, producing errors directly related to the demands of compensation. An encoding-error model fit to the data indicated that backward movement produced downward rescaling, whereas movement that led to implied rotation (rightward on 2nd leg) produced distortions of shape and scale.

Adult↗

PubMed2000

When to inspect? Recurrent inspection decisions in a simulated risky environment.

Participants scheduled inspections to detect costly events for which they were repeatedly at constant risk (probability of event onset) within a computerized environment. They were responsive to risk variations, conveyed either in advance or by experience with inspection outcomes, although experiencing unannounced increases in risk affected inspections more than experiencing unannounced decreases. Participants responded to variations in cost (time varying or fixed) when the effects were made perceptually salient. Compared with a normative model (R. L. Klatzky, D. M. Messick, & J. Loftus, 1992), some conditions showed near-optimal inspecting or had flat payoff functions that tolerated observed departures from optimal performance. Costly departures occurred particularly when combined cost and risk levels caused optimal responses to be extreme (always or never inspect). Results assess people's processing of relevant variables and indicate circumstances in which they may set substantially nonoptimal inspection schedules.

Computers↗

PubMed1999

Manipulation with no or partial vision.

The present research investigated the role of vision in closed- and open-loop processing during manipulation. In Experiment 1, participants performed common manipulatory tasks with 100% accuracy in less than 1 s without vision. In Experiment 2, the effects of extensive practice of a peg-in-hole task were examined within 4 functionally significant stages of manipulation. Performance was consistently faster with than without vision in the prereach, grasp, and transport + insert stages; reverse effects were observed during the reach stage. In Experiment 3, the effects of practice with partial vision were examined: Participants initially learned the peg-in-hole task with full vision and then transferred to learning the same task with vision available only during 1 functional stage. Overall, performance was fastest when vision was limited to the prereach and reach stages.

Adolescent↗

PubMed1999

Tactile roughness perception with a rigid link interposed between skin and surface.

Subjects made roughness judgments of textured surfaces made of raised elements, while holding stick-like probes or through a rigid sheath mounted on the fingertip. These rigid links, which impose vibratory coding of roughness, were compared with the finger (bare or covered with a compliant glove), using magnitude-estimation and roughness differentiation tasks. All end effectors led to an increasing function relating subjective roughness magnitude to surface interelement spacing, and all produced above-chance roughness discrimination. Although discrimination was best with the finger, rigid links produced greater perceived roughness for the smoothest stimuli. A peak in the magnitude-estimation functions for the small probe and a transition from calling more sparsely spaced surfaces rougher to calling them smoother were predictable from the size of the contact area. The results indicate the potential viability of vibratory coding of roughness through a rigid link and have implications for teleoperation and virtual-reality systems.

Adult↗

PubMed1999

Path completion after haptic exploration without vision: implications for haptic spatial representations.

Subjects haptically explored two legs of a triangular path and responded by returning to the origin. Seven conditions were tested, varying in (1) whether the path was imaginally displaced between the initial exploration and the response; (2) the nature of the displacement, if present--rotation or translation; (3) variability in the origin location across trials; and (4) instructions to complete a triangle versus remembering the origin location. Mean distance and angle responses were modeled by the encoding-error model (Fujita, Klatzky, Loomis, & Golledge, 1993), which attributes errors to misencoding of the path legs and angle. The model failed to predict the finding of systematic errors in response distance but not response angle, a dissociation that held when the path was undisplaced or imaginally translated. Rotation before responding produced errors more consistent with the model. The data suggest use of a body-centered representation to complete undisplaced or imaginally translated paths, but adoption of an object-centered representation after imagined rotation, as is more consistent with pathway completion using whole-body locomotion.

Adult↗

PubMed1998

Assessing auditory distance perception using perceptually directed action.

Three experiments investigated auditory distance perception under natural listening conditions in a large open field. Targets varied in egocentric distance from 3 to 16 m. By presenting visual targets at these same locations on other trials, we were able to compare visual and auditory distance perception under similar circumstances. In some experimental conditions, observers made verbal reports of target distance. In others, observers viewed or listened to the target and then, without further perceptual information about the target, attempted to face the target, walk directly to it, or walk along a two-segment indirect path to it. The primary results were these. First, the verbal and walking responses were largely concordant, with the walking responses exhibiting less between-observer variability. Second, different motoric responses provided consistent estimates of the perceived target locations and, therefore, of the initially perceived distances. Third, under circumstances for which visual targets were perceived more or less correctly in distance using the more precise walking response, auditory targets were generally perceived with considerable systematic error. In particular, the perceived locations of the auditory targets varied only about half as much in distance as did the physical targets; in addition, there was a tendency to underestimate target distance, except for the closest targets.

Auditory Perception↗

PubMed1997

Relative availability of surface and object properties during early haptic processing.

How the relative order in which 4 property classes of haptically perceived surfaces becomes available for processing after initial contact was studied. The classes included material, abrupt-surface discontinuity, relative orientation, and continuous 3-D surface contour properties. Relative accessibility was evaluated by using the slopes of haptic search functions obtained with a modified version of A. Treisman's (A. Treisman & S. Gormican, 1988) visual pop-out paradigm; the y0 intercepts were used to confirm and fine-tune order of accessibility. Target and distractors differed markedly in terms of their value on a single dimension. The results of 15 experiments show that coarse intensive discriminations are haptically processed early on. In marked contrast, most spatially encoded dimensions become accessible relatively later, sometimes considerably so.

Analysis of Variance↗

PubMed1996

Cognitive salience of haptic object properties: role of modality-encoding bias.

The influence of modality-encoding bias on the relative importance ('cognitive salience') of object shape, size, and material, with the last determined by weight and thermal variations, was examined. Experiment 1 confirmed that for these stimulus objects all five properties were very accessible haptically, as measured by the time to identify the property level of each designated property; however, observers were still generally faster for geometric than material properties. In experiment 2, the influence of modality-encoding bias on cognitive salience was assessed by using a task involving free sorting by similarity. As predicted, modality-encoding bias strongly influenced cognitive salience. Observers favoured sorting by material under haptic- bias instructions, and three-dimensional geometric properties (especially shape) under visual-bias instructions. Videotaped hand movements indicated that modality-encoding biases reflect long-term knowledge of the relative speed and precision of manual exploration patterns, rather than exploration of the current set of objects.

Analysis of Variance↗

PubMed1995

Planning for hand shape and arm transport when reaching for objects.

Two early components of object manipulation are shaping the hand appropriately for functional interaction and transporting the arm with appropriate force and spatial precision to the target object. Three experiments addressed whether people plan these two components before the onset of reaching and if so, how the plans are coordinated. Subjects reached for and contacted a series of objects with one of four hand configurations: pinch, poke, palm, and clench. The required configuration was signaled by the object's color; in some conditions its structure provided a redundant cue. The time from object exposure to arm liftoff (reaction time: RT) and the time from liftoff to contact (movement time: MT) were recorded. In Experiment 1, a compatible stimulus-to-hand-shape mapping substantially facilitated RT but not MT, suggesting that the appropriate hand shape was planned prior to reaching. Experiment 2 showed that contact precision, as defined by the stability of the object's support plane, affected MT; a smaller RT effect also suggested some pre-movement planning of arm transport to accommodate precision demands. Experiment 3 combined compatibility and precision manipulations in a single task to test a model which proposes that planning for hand-shape and arm transport occur in parallel, with the onset of reaching deferred until the slower planning process is completed.

Adult↗

PubMed1995

Identifying objects from a haptic glance.

Subjects identified common objects under conditions of a "haptic glance," a brief haptic exposure that placed severe spatial and temporal constraints on stimulus processing. They received no advance cue, a superordinate-level name as cue, or a superordinate and basic-level name as cue. The objects varied in size relative to the fingertip and in the most diagnostic attribute, either texture or shape. The data suggest that object recognition can occur when global volumetric primitives cannot directly be extracted. Even with no cue, confusion errors resembled the target object and indicated extraction of material and local shape information, which was sufficient to provide accuracy above 20%. Performance improved with cuing, and the effect of exposure duration was observed primarily with minimal cuing, indicating compensatory effects of top-down processing.

Adult↗

PubMed1993

Extracting object properties through haptic exploration.

This paper reviews some of our recent research on haptic exploration, perception and recognition of multidimensional objects. We begin by considering the nature of manual exploration in terms of the characteristics of various exploratory procedures (EPs) or stereotypical patterns of hand movements. Next, we explore their consequences for the sequence of EPs selected, for the relative cognitive salience of material versus geometric properties, and for dimensional integration. Finally, we discuss several applications of our research programme to the development of tangible graphics displays for the blind, autonomous and teleoperated haptic robotic systems, and food evaluation in the food industry.

Attention↗

PubMed1993

Haptic exploration in the presence of vision.

Two experiments addressed initiation of haptic exploration to encode object properties when vision is present. Ss compared pairs of objects on designated properties, using only vision or with touch permitted. Tough initiation, reach, contact, and visual responses were timed. With difficult material judgments, tough occurred frequently and was initiated faster than the time to respond by vision alone. With geometric judgments, touch was rarely used and then was initiated at the typical time for a visual response. Imposing a visual preview before allowing touch did not reduce the incidence of touch but did speed its initiation. Results support a model in which preliminary visual processing quickly initiates haptic exploration for material judgments that are visually or semantically difficult.

Adult↗

PubMed1993

Nonvisual navigation by blind and sighted: assessment of path integration ability.

Blindfolded sighted, adventitiously blind, and congenitally blind subjects performed a set of navigation tasks. The more complex tasks involved spatial inference and included retracing a multisegment route in reverse, returning directly to an origin after being led over linear segments, and pointing to targets after locomotion. As a group, subjects responded systematically to route manipulations in the complex tasks, but performance was poor. Patterns of error and response latency are informative about the internal representation used; in particular, they do not support the hypothesis that only a representation of the origin of locomotion is maintained. The slight performance differences between groups varying in visual experience were neither large nor consistent across tasks. Results provide little indication that spatial competence strongly depends on prior visual experience.

Adolescent↗

PubMed1993

Toward a computational model of constraint-driven exploration and haptic object identification.

A conceptual model of the human haptic system in relation to object identification is presented. The model encompasses major architectural elements including representations of haptically accessible object properties and exploratory procedures (EPs)--dedicated movement patterns that are specialized to extract particular properties. These architectural units are related in processing-specific ways. Properties are associated with exploratory procedures in keeping with the extent to which a given procedure delivers information about a given property. The EPs are associated with one another in keeping with their compatibility, as determined by parameters of motor execution and interactions with the object and the workspace. The resulting architecture is treated as a system of constraints which guide the exploration of an object during the course of identification. The selection of the next step in a sequence of exploration requires that constraints be optimally satisfied. A network approach to constraint satisfaction is implemented and shown to account for a number of previous empirical results concerning the time course of exploration, object classification speed, and incidental learning about object properties. This system has potential applications for robotic haptic exploration.

Attention↗

PubMed1993

Constraints on haptic integration of spatially shared object dimensions.

A study of the haptic integration of texture, shape, and hardness of nonplanar solid objects is reported. In experiment 1 the relative discriminability of the objects along each dimension was assessed. While levels of texture and shape were equally discriminable, hardness discriminations proved considerably more difficult. The extent of dimensional integration in a speeded classification task when both dimensions could be extracted from the same local patch was investigated in experiments 2 and 3. In experiment 2 subjects were initially encouraged to attend to a nontargeted dimension covarying with a targeted one. The nontargeted dimension was subsequently held constant (withdrawn). In experiment 3 dimensional variation was introduced which was uncorrelated with the targeted property during the course of categorization and hence discouraged subjects from attending to the nontargeted property. The results of these two studies converged in showing evidence of bidirectional dimensional integration between texture and shape and unidirectional integration when hardness was the targeted dimension. The failure to integrate hardness into categorization based on texture or shape was attributed to the difficulty of hardness discriminations. Integration effects in experiment 3 were not consistently smaller than those in experiment 2, which suggests a strong involuntary component to dimensional integration. The results of an analysis of the accompanying hand movements are interpreted in terms of constraints on dimensional integration. Implications for visual, cross-modal, and two-handed codimensional processing are also discussed.

Adult↗

PubMed1993

Cognitive representations of functional interactions with objects.

Two studies addressed people's knowledge about the movements underlying functional interactions with objects, when the interactions were described by simple verbal labels expressing environmental goals. In Experiment 1, subjects rated each action with respect to six dimensions: which portion of the limb moved, distance moved, forcefulness, effectors involved, size of the contact surface, and resemblance to grasp. Ratings were systematic and fell on two distinct underlying factors related to limb movement and effector (usually the hand) configuration. In Experiment 2, subjects sorted a subset of the actions by similarity of movement. Clustering and multidimensional scaling solutions indicated that the six initial dimensions contributed to similarity judgments, along with additional parameters. The results support the existence of cognitively accessible, but still relatively specific, representations of functional actions, with potential implications for motor and memory performance.

Adult↗