Active Haptic Sensing

This chapter addresses human hand functions based on performance of manual tasks that specifically involve active haptic sensing, another form of manual sensing that relies on cutaneous inputs from the skin in combination with kinesthetic inputs derived from active use of our muscles, tendons, and joints. Many of the tasks related to tactile sensing are relevant to the discussion of active haptic sensing, because the latter also involves the stimulation of cutaneous receptors. Other key topics in this chapter involve the nature of manual exploration and the manner in which it constrains and...

This chapter addresses human hand functions based on performance of manual tasks that specifically involve active haptic sensing, another form of manual sensing that relies on cutaneous inputs from the skin in combination with kinesthetic inputs derived from active use of our muscles, tendons, and joints. Many of the tasks related to tactile sensing are relevant to the discussion of active haptic sensing, because the latter also involves the stimulation of cutaneous receptors. Other key topics in this chapter involve the nature of manual exploration and the manner in which it constrains and enhances haptic perception of raised two- and three-dimensional objects and their material and geometric properties. Finally, performance via direct touch is compared to that achieved by indirect touch, in which the observer remotely explores the environment using intermediate links (e.g., probes) held in the hand.