5thFeb阅读笔记.doc

Paper: Force, Torque, and Stiffness: Interactions in Perceptual Discrimination Basic Concept: Torque:力矩。 Stiffness:刚度，施力与所产生变形量的比值，表示材料或结构抵抗变形的能力。 JND：最小可觉差，对于许多的感受维度而言，over a wide range of stimulus magnitudes sufficiently far from the upper and lower limits of perception，最小的可觉差和原始刺激的比值约为定值。 最小可觉差是一个统计值（带有统计偏差）而非一标准值，在每次的试验中，对于同一个人的最小可觉差所得到的结果必定会有所浮动，因此要得到此值必须用大量的实验来决定界限。通常我们用一个人在50%的试验中能达到的辨识水平来表示此值，若使用其他比例，则通常会在形容时一并列出，如：75%最小可觉差。 现代心理物理学中，存在如信号察觉理论（signal detection theory）等，其指出我们观察到的最小可觉差即便经过统计处理后，仍然不是一个绝对量，而会随客观（环境）及主观（受测者）因素改变。（这个结论应该会对我的实验结果评估产生一定的影响） Key Sentences: Introduction: but few studies have been devoted to understand the sensing of torque and its use as a cue for perceiving tissue properties such as stiffness. （切入点：用力矩作为感知人体组织包括刚度在内的一系列特性） three experiments were conducted using simulations to examine how force and torque cues are used in isolation and in combination to perceive simulated stiffness, and to understand the interaction between force and torque. （主要工作：力矩和力作为变量协同感知模拟刚度，同时力和力矩间的交互（暂时不太理解它所谓的交互含义）） Research has shown that the perceptual resolution in force discrimination, as measured by the just noticeable difference (JND), is 7-10 percent over a range of 0.5-200 N [2], and the thresholds measured for limb movement and position are between 5 and 8 percent 。By comparison, the JND for stiffness discrimination ranges from 8 to 22 percent 。 Human sensitivity to torque is around 13 percent （一些可参考数据） 实验图1. Wang and Srinivasan examined the role of torque in haptic perception of object location. As to haptic manipulation, the usefulness of torque is found to be largely dependent on the task to be carried out.（并非所有时刻力矩在触觉操作中都是有价值的参考量，所以对于我的这个实验，进行什么类型的操作也是需要考虑的问题，虽然我并不采用力矩作为感知线索，依然需要注意之本结论） Thus when both force and torque are available, the estimates of stiffness from two sources, although redundant with each other, can then be combined to reduce uncertainty in perception and improve the stiffness sensitivity.(虽然力和力矩之间存在比例关系，但是他们协同计算可以减少感知中不确定性提高刚