Haptics in virtual environments: Taxonomy, research status, and challenges

Although previous physiological and anatomical experiments have identified four afferent fiber types (PC, RA, SA II, and SA I) in glabrous (nonhairy) skin of the human somatosensory periphery, only three have been shown to mediate tactile (mechanoreceptive) sensation. Psychophysical evidence that four channels (P, NP I, NP II, and NP III) do, indeed, participate in the perceptual process is presented. In a series of experiments involving selective masking of the various channels, modification of the skin-surface temperature, and testing cutaneous sensitivity down to very low-vibratory frequencies, the fourth psychophysical channel (NP III) is defined. Based on these experiments and previous work from our laboratory, it is concluded that the four channels work in conjunction at threshold to create an operating range for the perception of vibration that extends from at least 0.4 to greater than 500 Hz. Each of the four channels appears to mediate specific portions of the overall threshold-frequency characteristic. Selection of appropriate neural-response criteria from previously published physiological data and correlation of their derived frequency characteristics with the four psychophysical channels indicates that each channel has its own physiological substrate: P channel and PC fibers, NP I channel and RA fibers, NP II channel and SA II fibers, and NP III channel and SA I fibers. These channels partially overlap in their absolute sensitivities, making it likely that suprathreshold stimuli may activate two or more of the channels at the same time. Thus the perceptual qualities of touch may be determined by the combined inputs from four channels.

In these experiments, two plates were grasped between the thumb and forefinger and squeezed together along a linear track. An electromechanical system presented a constant resistance force during the squeeze up to a predetermined location on the track, whereupon the force effectively went to infinity (simulating a wall) or to zero (simulating a cliff). The task of the subject was to discriminate between two alternative levels of the constant resistance force (a reference level and a reference-plus-increment level). Results of these experiments indicate a just noticeable difference of roughly 7% of the reference force using a one-interval paradigm with trial-by-trial feedback over the ranges 2.5 less than or equal to F0 less than or equal to 10.0 newtons, 5 less than or equal to D less than or equal to 30 mm, 45 less than or equal to S less than or equal to 125 mm, and 25 less than or equal to V less than or equal to 160 mm/sec, where F0 is the reference force, D is the distance squeezed, S is the initial fingerspan, and V is the mean velocity of the squeeze. These results, based on tests with 5 subjects, are consistent with a wide range of previous results, some of which are associated with other body surfaces and muscle systems and many of which were obtained with different psychophysical methods.