Study on the Perceptual Mechanism of Force Mediated by Grasping Tools Using Suction Pressure Stimuli on Skin and Kinesthetic Bias

Abstract

This study experimentally investigates the perceptual mechanism of the force applied to a grasping tool based on the hypothesis that perceptual force is mediated by the combination of cutaneous and kinesthetic sensation. We conduct the experiments in which, first, two participants memorize a pseudo force presented by the suction pressure display which enables cutaneous stimulation without kinesthetic bias. Then, the participants reproduce a memorized force by pressing a finger actively (with some kinesthetic sensation) and passively (without some kinesthetic sensation). Experimental results show that a reproduced force varies according to the presence of kinesthetic bias, the activity on reproducing task (active or passive) and the intensity of applied cutaneous sensation by the suction display. These results support the hypothesis that the combination of cutaneous and kinesthetic sensation is used for the perception of force.