Rotational invariants and dynamic touch

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Abstract
There are two main goals presented in this chapter: to cite the role of haptics to the perceiving abilities of both the blind and the sighted of their surroundings and to state that these skills are perceptual rather than inferential. The case of a 19-year-old boy with a severe case of sensory neuropathy leads to an understanding that the touch system is unique in terms of being both exploratory and performatory—both sensory and motor. These are not separable, but an example of the perceiving-acting cycle. To achieve these goals, this chapter cites information and related literature on how objects and its different features are perceived. Rotational dynamics and the perception of limbs, perception of objects by other objects, percept–percept coupling—as opposed to perceptual independence, selective perception by touch, perception of surface layouts by means of objects, perception of heaviness, and even parallels from other perceptual systems are discussed in the experiments and methodologies cited. In conclusion, the central theme of dynamic touch is the discovery of appropriate quantities to manipulate and to index perception. The haptic perceptual system plays a role in controlling action, as well as object affordance.

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