Role of the inertia tensor in haptically perceiving where an object is grasped.
- 1 January 1994
- journal article
- Published by American Psychological Association (APA) in Journal of Experimental Psychology: Human Perception and Performance
- Vol. 20 (2) , 276-285
- https://doi.org/10.1037//0096-1523.20.2.276
Abstract
When an object is held and wielded, a time-invariant quantity of the wielding dynamics is the inertia tensor Iij. Examination of Iij as a function of different locations at which a cylindrical object is grasped revealed that the off-diagonal components of Iij--the products of inertia--related most systematically to grip position. In 3 experiments, Ss wielded an occluded rod held at an intermediate point along its length and reproduced, with the other hand, the felt grip position on a visible rod. In Experiment 1, the wielded rods were homogeneous; in Experiments 2 and 3, weights were added on either side of the grasp, with different manners of grasp contrasted in Experiment 3. In all 3 experiments, perceived hand position was predicted by Iij. Discussion was focused on the role of Iij's eigenvalues in perceiving the magnitudes of objects and Iij's eigenvectors in perceiving hand-object relations (e.g., position of grasp).Keywords
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