The effect of dissociation between proprioception and vision on perception and grip force control in a stiffness judgment task

Stephanie Hu, Raz Leib, Ilana Nisky

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


Our sensorimotor system estimates stiffness to form stiffness perception, such as for choosing a ripe fruit, and to generate actions, such as to adjust grip force to avoid slippage of a scalpel during surgery. We examined how temporal manipulation of the haptic and visual feedback affect stiffness perception and grip force adjustment during a stiffness discrimination task. We used delayed force feedback and delayed visual feedback to break the natural relations between these modalities when participants tried to choose the harder spring between pairs of springs. We found that visual delay caused participants to slightly overestimate stiffness while force feedback delay caused a mixed effect on perception; for some it caused underestimation and for some overestimation of stiffness. Interestingly and in contrast to previous findings without vision, we found that participants increased the magnitude of their applied grip force for all conditions. We propose a model that suggests that this increase was a result of coupling the grip force adjustment to their proprioceptive hand position, which was the only modality which we could not delay. Our findings shed light on how the sensorimotor system combines information from different sensory modalities for perception and action. These results are important for the design of improved teleoperation systems that suffer from unavoidable delays.

Original languageEnglish
Title of host publicationIEEE Haptics Symposium, HAPTICS 2018 - Proceedings
EditorsYon Visell, Katherine J. Kuchenbecker, Gregory J. Gerling
PublisherIEEE Computer Society
Number of pages6
ISBN (Electronic)9781538654248
StatePublished - 9 May 2018
Event2018 IEEE Haptics Symposium, HAPTICS 2018 - San Francisco, United States
Duration: 25 Mar 201828 Mar 2018

Publication series

NameIEEE Haptics Symposium, HAPTICS
ISSN (Print)2324-7347
ISSN (Electronic)2324-7355


Conference2018 IEEE Haptics Symposium, HAPTICS 2018
Country/TerritoryUnited States
CitySan Francisco

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction


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