Cc. Pagano et al., ROLE OF THE INERTIA TENSOR IN HAPTICALLY PERCEIVING WHERE AN OBJECT IS GRASPED, Journal of experimental psychology. Human perception and performance, 20(2), 1994, pp. 276-285
When an object is held and wielded, a time-invariant quantity of the w
ielding dynamics is the inertia tensor I(ij). Examination of I(ij) as
a function of different locations at which a cylindrical object is gra
sped revealed that the off-diagonal components of I(ij)-the products o
f inertia-related most systematically to grip position. In 3 experimen
ts, Ss wielded an occluded rod held at an intermediate point along its
length and reproduced, with the other hand, the felt grip position on
a visible rod. In Experiment 1, the wielded rods were homogeneous; in
Experiments 2 and 3, weights were added on either side of the grasp,
with different manners of grasp contrasted in Experiment 3. In all 3 e
xperiments, perceived hand position was predicted by I(ij). Discussion
was focused on the role of I(ij)'s eigenvalues in perceiving the magn
itudes of objects and I(ij)'s eigenvectors in perceiving hand-object r
elations (e.g., position of grasp).