通过减少接触力和增加平滑度隐式学习物体几何
Implicit learning of object geometry by reducing contact forces and increasing smoothness
AI总结：
本文通过实验表明，手在接触曲面时，通过练习趋向于沿测地线平滑运动以减少接触力和波动，从而隐式学习曲面的几何特征。
摘要：
平滑地移动双手对于执行日常任务至关重要，例如端着一杯水而不洒出。过去的研究揭示了在自由空间中从一点移动到另一点时产生平滑轨迹的自然倾向。本文通过展示当手与曲面保持接触时平滑性也被强制执行，提供了关于运动平滑性的新视角。曲面上的最大平滑运动发生在测地线上，这些测地线取决于曲面的基本特征，如半径和曲率中心。受试者被要求在与一个看不见的虚拟球体接触的情况下执行手部运动。我们发现，随着练习，受试者倾向于沿着平滑轨迹移动手，接近连接起点和终点的测地线路径，以减少与约束边界的接触力、接触力的方差、切向速度轮廓误差以及运动时间跨度内的平方加加速度之和。此外，在球体某个区域练习运动后，受试者在不同区域执行了近测地线运动，接触力更小、接触力方差更小、切向速度轮廓误差更小、平方加加速度之和更小。这些发现表明，在手与曲面接触时执行平滑运动是提取曲面几何特征信息的一种手段。
英文摘要：
Moving our hands smoothly is essential to execute ordinary tasks, such as carrying a glass of water without spilling. Past studies have revealed a natural tendency to generate smooth trajectories when moving the hand from one point to another in free space. Here we provide a new perspective on movement smoothness by showing that smoothness is also enforced when the hand maintains contact with a curved surface. Maximally smooth motions over curved surfaces occur along geodesic lines that depend on fundamental features of the surface, such as its radius and center of curvature. Subjects were requested to execute movements of the hand while in contact with a virtual sphere that they could not see. We found that with practice, subjects tended to move their hand along smooth trajectories, near geodesic pathways joining start to end positions, to reduce contact forces with constrained boundary, variance of contact force, tangential velocity profile error and sum of square jerk along the time span of movement. Furthermore, after practicing movements in a region of the sphere, subjects executed near-geodesic movements, less contact forces, less contact force variance, less tangential velocity profile error and less sum of square jerk in a different region. These findings suggest that the execution of smooth movements while the hand is in contact with a surface is a means for extracting information about the surface's geometrical features.
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