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Erwan Normand
2024-10-21 11:24:14 +02:00
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2-related-work/1-haptic-hand.tex
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The haptic sense has specific characteristics that make it unique in regard to other senses.
It enables us to perceive a large diversity of properties of everyday objects, up to a complex combination of sensations produced by numerous sensory receptors distributed throughout the body, but especially in the hand \cite{johansson2009coding}.
It also allows us to act on these objects with the hand, to come into contact with them, to grasp them and to actively explore them. % , and to manipulate them.
It also allows us to act on these objects, to come into contact with them, to grasp them and to actively explore them. % , and to manipulate them.
%This implies that the haptic perception is localized at the points of contact between the hand and the environment, \ie we cannot haptically perceive an object without actively touching it.
These two mechanisms, \emph{action} and \emph{perception}, are closely associated and both are essential to form a complete haptic experience of interacting with the environment using the hand \cite{lederman2009haptic}.
\subsection{The Haptic Sense}
\label{haptic_sense}
Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed throughout the body. They can be divided into two main modalities: \emph{cutaneous} and \emph{kinesthetic} \cite{lederman2009haptic}.
Perceiving the properties of an object involves numerous sensory receptors embedded in the skin, but also in the muscles and joints of the hand, and distributed throughout the body.
They can be divided into two main modalities, depending on their location in the body: \emph{cutaneous} and \emph{kinesthetic} \cite{lederman2009haptic}.
\subsubsection{Cutaneous Modality}
\label{cutaneous_sensitivity}
@@ -60,17 +61,17 @@ Finally, free nerve endings (without specialized receptors) provide information
\subsubsection{Kinesthetic Modality}
\label{kinesthetic_sensitivity}
Kinesthetic receptors are also mechanoreceptors, but are located in muscles, tendons and joints \cite{jones2006human}.
Kinesthetic receptors are the mechanoreceptors located in muscles, tendons and joints \cite{jones2006human}.
Muscle spindles respond to the length and rate of stretch/contraction of muscles.
Golgi tendon organs, located at the junction of muscles and tendons, respond to the force developed by the muscles.
Ruffini and Pacini receptors are located in the joints and respond to joint movement.
Ruffini and Pacini receptors (\secref{cutaneous_sensitivity}) are located in the joints and respond to joint movement.
Together, these receptors provide sensory feedback about the movement, speed and strength of the muscles and the rotation of the joints during movement.
They can also sense external forces and torques applied to the body.
Kinesthetic receptors are therefore closely linked to the motor control of the body.
By providing sensory feedback in response to the position and movement of our limbs, they enable us to perceive our body in space, a perception called \emph{proprioception}.
This allows us to plan and execute precise movements to touch or grasp a target, even with our eyes closed.
Cutaneous mechanoreceptors (\secref{cutaneous_sensitivity}) are also involved in proprioception \cite{johansson2009coding}.
Cutaneous mechanoreceptors within the skin are also involved in proprioception \cite{johansson2009coding}.
\subsection{Hand-Object Interactions}
\label{hand_object_interactions}