Haptic shape cues, invariants, priors and interface design

  • Vincent Hayward


Perception is often discussed by reference to cues as separate sources of information for the perceiver [1]. With vision and audition, the list of such known cues is quite extensive [2, 3]. For example, visual depth perception in humans is thought to rely on monocular, oculomotor and binocular cues. Monocular depth cues include motion parallax, color contrast, perspective, relative size, relative height, focus, occlusion, shading, texture gradient, shadows, interreflections, and others. Oculomotor cues include accommodation and convergence. Binocular cues include disparity-based stereopsis. Such collections have been also identified for other object qualities such as size or color. With audition, say for object localization, there are analogous notions, such as interaural time difference, interaural intensity differences, or spectral cues related to head-related transfer functions, in addition to monaural cues [4].


Force Feedback Virtual Object Interaural Time Difference Haptic Interface Stereotypical Movement 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Selected readings

  1. Gibson JJ (1962) Observations on active touch. Psychological Review 69(6): 477–491PubMedCrossRefGoogle Scholar
  2. Jones LA, Lederman SJ (2006) Human hand function. Oxford University Press, OxfordCrossRefGoogle Scholar
  3. Pont SC, Kappers AML, Koenderink JJ (1999) Similar mechanisms underlie curvature comparison by static and dynamic touch. Perception & Psychophysics 61(5): 874–894Google Scholar
  4. Goodwin AW, John KT, Marceglia AH (1991) Tactile discrimination of curvature by humans using only cutaneous information from the fingerpads. Experimental Brain Research 86(3): 663–672CrossRefGoogle Scholar
  5. Fearing RS, Binford TO (1988) Using a cylindrical tactile sensor for determining curvature. In: Proc. IEEE International Conference on Robotics and Automation, 765–771Google Scholar

Copyright information

© Birkhäuser Verlag 2008

Authors and Affiliations

  • Vincent Hayward
    • 1
  1. 1.Haptics Laboratory, Center for Intelligent MachinesMcGill UniversityMontréalCanada

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