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

在生态心理学中，这种感知形式被称为动态触摸，人们已经为理解其机制做出了许多努力。然而，它仍然是模棱两可的，此外，对静态持有感知的可能性产生肯定或否定的命题。这主要是由于在以往的研究中缺乏关于杆运动的信息。本文采用6df（自由度）跟踪系统研究了连杆的动力学特性。在此基础上，探讨了感知机制。我们开始进行静持实验。结果发现，即使在静态持有的情况下，和也会轻微移动，并且需要杆的一定运动才能正确地感知其长度。我们接着做了一个挥动棍子的动作。我们首先对之前的模型进行了测试，验证了长度感知主要受惯性矩的支配，那么如何感知惯性矩并推导长度呢？为了解决这个问题，我们注意到施加到一个人手腕上的肌肉扭矩，这似乎是一个人可以主要感知的惯性矩的度量。研究发现，由角加速度和惯性矩相乘得到的肌肉扭矩与感知长度密切相关。在此基础上，我们提出了一种新的肌肉扭矩模型。(3)为了将模型扩展到弹性和刚性杆的长度感知，需要直接检测肌肉扭矩。虽然这项研究仍在进行中，但有人认为，测量手臂上的电位并伴随点头屈服似乎是直接检测肌肉扭矩的一种有效方法。

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.