A perceptual analysis of stiffness

SummaryThe perception of stiffness was studied in ten human subjects using two servo-controlled electromagnetic linear motors with computercontrolled stiffness, one motor coupled to each wrist of the subject. Using the contralateral limbmatching procedure in which subjects adjusted the stiffness of the motor connected to one (matching) arm until it was perceived to be the same as that connected to the other (reference) arm, a psychophysical function for stiffness was calculated. Eight different stiffness intensities were matched by subjects with five repetitions at each stimulus amplitude. The relation between the stiffness of the reference and matching motors was linear, and the accuracy with which subjects could match stiffness paralleled that reported previously for force and displacement. The Weber fraction for stiffness was 0.23 which is three times that reported for elbow flexion forces and forearm displacement. These findings were interpreted as indicating that subjects can perceive changes in the stiffness of mechanical devices used to effect action in the environment and that these perceptions are based on sensory signals conveying force and movement information.

[1]  D. McCloskey,et al.  The contribution of muscle afferents to kinaesthesia shown by vibration induced illusions of movement and by the effects of paralysing joint afferents. , 1972, Brain : a journal of neurology.

[2]  R. Granit.  Constant errors in the execution and appreciation of movement. , 1972, Brain : a journal of neurology.

[3]  A. W. Monster,et al.  Effect of the Peripheral and Central ‘Sensory’ Component in the Calibration of Position , 1973 .

[4]  D. McCloskey,et al.  Joint sense, muscle sense, and their combination as position sense, measured at the distal interphalangeal joint of the middle finger. , 1976, The Journal of physiology.

[5]  D. McCloskey,et al.  Changes in motor commands, as shown by changes in perceived heaviness, during partial curarization and peripheral anaesthesia in man , 1977, The Journal of physiology.

[6]  P. Roland,et al.  A quantitative analysis of sensations of tension and of kinaesthesia in man. Evidence for a peripherally originating muscular sense and for a sense of effort. , 1977, Brain : a journal of neurology.

[7]  D. Burke,et al.  Muscle spindle responses in man to changes in load during accurate position maintenance. , 1978, The Journal of physiology.

[8]  P. Roland.  Sensory feedback to the cerebral cortex during voluntary movement in man. , 1978 .

[9]  D. McCloskey.  Kinesthetic sensibility. , 1978, Physiological reviews.

[10]  F. J. Clark,et al.  Contributions of cutaneous and joint receptors to static knee-position sense in man. , 1979, Journal of neurophysiology.

[11]  J G Kreifeldt,et al.  Moment of inertia: psychophysical study of an overlooked sensation. , 1979, Science.

[12]  C. Marsden,et al.  Effect of thumb anaesthesia on weight perception, muscle activity and the stretch reflex in man. , 1979, The Journal of physiology.

[13]  W. Rymer,et al.  Joint position sense: the effects of muscle contraction. , 1980, Brain : a journal of neurology.

[14]  A. M. Smith.  The coactivation of antagonist muscles. , 1981, Canadian journal of physiology and pharmacology.

[15]  P. Matthews.  Where does Sherrington's "muscular sense" originate? Muscles, joints, corollary discharges? , 1982, Annual review of neuroscience.

[16]  Lynette A. Jones,et al.  Force sensation in isometric contractions: a relative force effect , 1982, Brain Research.

[17]  I. Hunter,et al.  Dynamics of human ankle stiffness: variation with mean ankle torque. , 1982, Journal of biomechanics.

[18]  J R Lackner,et al.  Reciprocal interactions between the position sense representations of the two forearms , 1983, The Journal of neuroscience : the official journal of the Society for Neuroscience.

[19]  B L Day,et al.  Pathophysiology of dystonias. , 1983, Advances in neurology.

[20]  H. Dr,et al.  Separate cortical systems for control of joint movement and joint stiffness: reciprocal activation and coactivation of antagonist muscles. , 1983 .

[21]  I. W. Hunter,et al.  Effect of fatigue on force sensation , 1983, Experimental Neurology.

[22]  D. Humphrey,et al.  Separate cortical systems for control of joint movement and joint stiffness: reciprocal activation and coactivation of antagonist muscles. , 1983, Advances in neurology.

[23]  I W Hunter,et al.  NEXUS: a computer language for physiological systems and signal analysis. , 1984, Computers in biology and medicine.

[24]  M. Hulliger,et al.  The mammalian muscle spindle and its central control. , 1984, Reviews of physiology, biochemistry and pharmacology.

[25]  J. D. Watson,et al.  Effects of externally imposed elastic loads on the ability to estimate position and force , 1984, Behavioural Brain Research.

[26]  F. J. Clark,et al.  Role of intramuscular receptors in the awareness of limb position. , 1985, Journal of neurophysiology.

[27]  G. Gescheider.  Psychophysics : method, theory, and application , 1985 .

[28]  I. A. Boyd.  The Muscle Spindle , 1985, Palgrave Macmillan UK.

[29]  P. Rack,et al.  Stretch Reflexes in Man: The Significance of Tendon Compliance , 1985 .

[30]  F. J. Clark,et al.  Proprioception with the proximal interphalangeal joint of the index finger. Evidence for a movement sense without a static-position sense. , 1986, Brain : a journal of neurology.

[31]  R. L. Watts,et al.  Elastic properties of muscles measured at the elbow in man: II. Patients with parkinsonian rigidity. , 1986, Journal of neurology, neurosurgery, and psychiatry.

[32]  L. Jones,et al.  Perception of force and weight: theory and research. , 1986, Psychological bulletin.

[33]  L. Kaufman,et al.  Handbook of perception and human performance , 1986 .

[34]  U Proske,et al.  Aftereffects in the responses of cat muscle spindles. , 1986, Journal of neurophysiology.

[35]  Effects of Antagonist Activation on Sensations of Muscle Force , 1987 .

[36]  S. Gandevia.  Roles for perceived voluntary motor commands in motor control , 1987, Trends in Neurosciences.

[37]  L. Jones.  Motor Illusions: What Do They Reveal About Proprioception? , 1988 .

[38]  P. Matthews.  Proprioceptors and their contribution to somatosensory mapping: complex messages require complex processing. , 1988, Canadian journal of physiology and pharmacology.

[39]  L. Jones.  Motor illusions: what do they reveal about proprioception? , 1988, Psychological bulletin.

[40]  L. A. Jones.  Matching Forces: Constant Errors and Differential Thresholds , 1989, Perception.

[41]  J. Roll,et al.  Kinaesthetic role of muscle afferents in man, studied by tendon vibration and microneurography , 2004, Experimental Brain Research.