Study on length perception of rod by active touch-Approach based on and dynamics measuremen-

通过挥舞一根带箍的棍子，人们可以成功地感知到它的长度，而不需要看它。在生态心理学中，这种感知形式被称为动态触觉，人们已经做了很多努力来理解它的机制。然而，它仍然是模糊的，此外，导致肯定或否定的命题知觉的可能性，由静态持有。这主要是由于以前的研究中缺乏关于杆运动的信息，在本文中，使用6 DF（自由度）跟踪系统研究杆的动力学。在此基础上，对感知机制进行了探讨。(1)我们开始进行静态保持实验。有人发现，即使在静态持有的情况下，和轻微的移动，并需要一定的运动杆正确地感知其长度。(2)我们接着做了一个挥舞棍子的动作。我们首先测试了先前的模型，并验证了长度感知主要是由惯性矩决定的，那么，如何感知惯性矩并推断长度呢？为了解决这个问题，我们注意到肌肉扭矩施加到一个人的手腕，这似乎是一个衡量惯性矩，一个人可以主要感知。结果发现，肌肉扭矩，这是估计乘以角加速度和惯性矩在一起是密切相关的感知长度。基于这一发现，我们提出了一个新的肌肉力矩模型。(3)为了将所提出的模型扩展到弹性杆和刚性杆的长度感知，有必要直接检测肌肉扭矩。虽然这项研究仍在进行中，但有人建议，测量一个人的手臂上的电位伴随点头屈服似乎是一种直接检测肌肉扭矩的可靠方法。

By wielding a rod with band, one can successfully perceive its length, without looking at it In ecological psychology, this form of perception is termed dynamic touch, and many efforts had been made to understand its mechanism. However, it still remains ambiguous, in addition, causing an affirmative or a negative proposition on the possibility of perception by static holding. This is mainly due to a lack of information about rod movement in previous studies,.In this paper, dynamics of the rod is investigated by using a 6 DF (degree of freedom) tracking system. Based on the results, perception mechanism is discussed.(1) We set about experiments with static holding. It was found that even in the case of static holding, the and slightly moves, and that a certain movement of the rod is needed to perceive its length correctly.(2) We followed up experiments with an action of wielding the rod. We first tested the previous models, and verified that length perception is mainly governed by inertia moment Then, how can one perceive inertia moment and deduce length? To solve this problem, we noted muscular torque exerting to one's wrist, which appears to be a measure of inertia moment that one can primarily perceive. It was found that muscular torque, which was estimated by multiplying angular acceleration and inertia moment together is strongly related to perceived length. Based on the finding, we newly proposed a muscular torque model.(3) To extend the proposed model to length perception of elastic as well as rigid rod, it is necessary to detect muscular torque directly. Although the study is still in progress, it was suggested that measuring an electrical potential on one's arm accompanied with nod yielding appears to be a prom icing way to direct detection of muscular torque.