Shape is an important cue for recognizing an object by touch. Several features, such as edges, curvature, surface area, and aspect ratio, are associated with 3-D shape. To investigate the saliency of 3-D shape features, we developed a haptic search task. The target and distractor items consisted of shapes (cube, sphere, tetrahedron, cylinder, and ellipsoid) that differed in several of these features. Exploratory movements were left as unconstrained as possible. Our results show that this type of haptic search task can be performed very efficiently (25 msec/item) and that edges and vertices are the most salient features. Furthermore, very salient local features, such as edges, can also be perceived through enclosure, an exploratory procedure usually associated with global shape. Since the subjects had to answer as quickly as possible, this suggests that speed may be a factor in selecting the appropriate exploratory procedure.

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a b s t r a c t 'Subitizing' refers to rapid and accurate judgement of small numbers of items, while response times and error rates increase rapidly for larger set-sizes. Most enumeration studies have been done in vision. Enumeration studies in touch have mostly involved 'passive touch', i.e. touch without active exploration. In daily life a much more common situation is that of 'active touch', e.g. when we count the number of coins in our pocket. To investigate numerosity judgement in active touch, we let subjects haptically explore varying numbers of spheres. Our results show that enumeration for up to 3 items is more efficient than for larger numbers of items. We also show that enumeration in this regime was not performed through estimation. Furthermore, it is shown that numerosity information was accessed directly and not through mass or volume cues. Not only do our results show that a haptic version of subitizing exists in active touch, they also suggest similar underlying enumeration mechanisms across different modalities.

The size-weight illusion is the phenomenon that the smaller of two equally heavy objects is perceived to be heavier than the larger object when lifted. One explanation for this illusion is that heaviness perception is influenced by our expectations, and larger objects are expected to be heavier than smaller ones because they contain more material. If this would be the entire explanation, the illusion should disappear if we make objects larger while keeping the volume of visible material the same (i.e. objects with visible holes). Here we tested this prediction. Our results show that perceived heaviness decreased with object size regardless of whether objects visibly contained the same volume of material or not. This indicates that object size can influence perceived heaviness, even when it can be seen that differently sized objects contain the same volume of material.

Vibrotactile displays worn on the back can be used as sensory substitution device. Often vibrotactile stimulation is chosen because vibration motors are easy to incorporate and relatively cheap. When designing such displays knowledge about vibrotactile perception on the back is crucial. In the current study we investigated distance perception. Biases in distance perception can explain spatial distortions that occur when, for instance, tracing a shape using vibration. We investigated the effect of orientation (horizontal vs vertical), the effect of positioning with respect to the spine and the effect of switching vibration motors on sequentially versus simultaneously. Our study includes four conditions. The condition which had a horizontal orientation with both vibration motors switching on sequentially on the same side of the spine was chosen is the baseline condition. The other three conditions were compared to this baseline condition. We found that distances felt longer in the vertical direction than in the horizontal direction. Furthermore, distances were perceived to be longer when vibration motors were distributed on both sides of the spine compared to when they were on the same side. Finally, distances felt shorter when vibration motors were switched on simultaneously compared to sequentially. In the simultaneous case a distance of 4 cm was not clearly perceived differently than a distance of 12 cm. When designing vibrotactile displays these anisotropies in perceived distance need to be taken into account because otherwise the intended shape will not match the perceived shape. Also, dynamically presented distances are more clearly perceived than static distances. This finding supports recommendations made in previous studies that dynamic patterns are easier to perceive than static patterns.