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ABSTRACT: We investigate the temporal coordination of human gait and posture and infer the nature of their coupling. Participants viewed a sinusoidally oscillating visual display which induced medial-lateral postural sway during treadmill walking, while display frequency was varied (0.075-1.025 Hz). First, postural responses exhibited the usual low-pass characteristic but with an additional resonance peak near the preferred stride frequency, although shifted downward by 0.12 Hz; this provides evidence of a coupling from gait to posture. Second, the step cycle adapted to mode lock with the visual driver and postural sway, as well as displaying instances of intermittency (slipping in and out of phase) and quasiperiodicity (phase wandering); this provides evidence of a coupling from posture to gait. We observed a spectrum of integer mode locks, including a large 1:1 trapping region about the stride frequency and superharmonic entrainment (stride frequency > driver frequency) at lower driver frequencies. A coupled-oscillator model that incorporates a novel parametric coupling from posture to the gait "stiffness" term reproduces these features of the data, including the resonance peak shift. Biological coordination patterns may thus emerge naturally as properties of a system of appropriately coupled oscillators.
Biological Cybernetics 08/2001; 85(2):89-106. · 1.59 Impact Factor
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ABSTRACT: How is human locomotion visually controlled? Fifty years ago, it was proposed that we steer to a goal using optic flow, the pattern of motion at the eye that specifies the direction of locomotion. However, we might also simply walk in the perceived direction of a goal. These two hypotheses normally predict the same behavior, but we tested them in an immersive virtual environment by displacing the optic flow from the direction of walking, violating the laws of optics. We found that people walked in the visual direction of a lone target, but increasingly relied on optic flow as it was added to the display. The visual control law for steering toward a goal is a linear combination of these two variables weighted by the magnitude of flow, thereby allowing humans to have robust locomotor control under varying environmental conditions.
Nature Neuroscience 03/2001; 4(2):213-6. · 15.53 Impact Factor
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ABSTRACT: How do observers perceive the path of self-motion during rotation? Previous research suggests that extra-retinal information about eye movements is necessary at high rotation rates (2-5 degrees /s), but those experiments used sparse random-dot displays. With dense texture-mapped displays, we find the path can be perceived from retinal flow alone at high simulated rotation rates if (a) dense motion parallax and (b) at least one reference object are available. We propose that the visual system determines instantaneous heading from the first-order motion parallax field, and recovers the path of self-motion by updating heading over time with respect to reference objects in the scene.
Vision Research 02/2000; 40(28):3873-94. · 2.41 Impact Factor
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ABSTRACT: Three hypotheses have been proposed for the roles of central and peripheral vision in the perception and control of self-motion: (1) peripheral dominance, (2) retinal invariance, and (3) differential sensitivity to radial flow. We investigated postural responses to optic flow patterns presented at different retinal eccentricities during walking in two experiments. Oscillating displays of radial flow (0 degree driver direction), lamellar flow (90 degrees), and intermediate flow (30 degrees, 45 degrees) patterns were presented at retinal eccentricities of 0 degree, 30 degrees, 45 degrees, 60 degrees, or 90 degrees to participants walking on a treadmill, while compensatory body sway was measured. In general, postural responses were directionally specific, of comparable amplitude, and strongly coupled to the display for all flow patterns at all retinal eccentricities. One intermediate flow pattern (45 degrees) yielded a bias in sway direction that was consistent with triangulation errors in locating the focus of expansion from visible flow vectors. The results demonstrate functionally specific postural responses of both central and peripheral vision, contrary to the peripheral dominance and differential sensitivity hypotheses, but consistent with retinal invariance. This finding emphasizes the importance of optic flow structure for postural control regardless of the retinal locus of stimulation.
Perception & Psychophysics 11/1999; 61(7):1356-68. · 1.37 Impact Factor
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ABSTRACT: Diedrich and Warren (1995a) proposed that gait transitions behave like bifurcations between attractors, with the relative phase of the leg segments as an order parameter and stride frequency and stride length as control parameters. In the present experiments, the authors tested the prediction that manipulation of the attractor layout, either through the addition of load to the ankles or through an increase in the grade of the treadmill, induces corresponding changes in the walk-run transition. As predicted, the load manipulation shifted the most stable walk and the transition to lower stride frequencies. In contrast, the grade manipulation shifted the most stable walk and the transition to shorter stride lengths. Other features of the dynamic theory were also replicated, including enhanced fluctuations of phase and systematic changes in stride length and frequency at the transition. Overall, in these experiments a shift of the attractors in control parameter space yielded a corresponding shift of the transition.
Journal of Motor Behavior 03/1998; 30(1):60-78. · 1.64 Impact Factor
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ABSTRACT: Reaching a moving object, avoiding an obstacle, or controlling a rotation are common requirements of experts in sport and goal-directed action. Since the original analysis of optic flow, a large number of studies have addressed the problem of perception and control of braking. In this paper, the perception-action strategies described for deceleration control are reviewed; driving, docking, landing, somersaulting, running and reaching are analysed. The role played by 'tau dot', the first temporal derivative of tau, is shown to be critical. However, the so-called constant tau-dot strategy proposed to explain how we regulate our deceleration in such circumstances is critically examined and rejected. New directions in the problem of braking control are proposed that emphasize: (1) the advantage of tau-dot over other kinematic variables; (2) the task specificity of tau-dot; (3) the need to consider tau-dot as a control variable; and (4) the role played by the controller dynamics in the perception-action loop. Several directions for future research are suggested.
Journal of Sports Sciences 01/1998; 15(6):607-20. · 1.93 Impact Factor
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ABSTRACT: Three experiments examined the functional specificity of visually controlled posture during locomotion by presenting large-screen displays to participants walking on a treadmill. Displays simulated locomotion down a stationary hallway, a hallway that traveled with the observer, or a frontal wall that traveled with the observer. A superimposed oscillation specified postural sway in 6 possible directions. With the wall, sway amplitude was isotropic and directionally specific in all conditions. However, with the hallways, sway was anisotropic (lateral > anterior-posterior [AP]), and diagonal responses were flattened into the lateral plane. When the treadmill was turned 90 degrees to the hallway, both the anisotropy and flattening were reversed (AP > lateral), indicating that they are determined by the visual structure of the scene. The results can be explained by postural control laws based on both optical expansion and motion parallax, yielding biases in planar environments that truncate parallax.
Journal of Experimental Psychology Human Perception & Performance 09/1996; 22(4):818-38. · 3.06 Impact Factor
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ABSTRACT: Deceleration during braking could be controlled by (a) using the time derivative of the relative rate of optical expansion, relative to a -0.5 margin value of tau-dot (D.N. Lee, 1976) or (b) computing the required deceleration from spatial variables (i.e., perceived distance, velocity, or object size). Participants viewed closed-loop displays of approach to an object and regulated their deceleration with a brake. The object appeared on a checkerboard ground surface (providing velocity, distance, and size information) or with no background (providing only optical expansion). Mean tau-dot during braking was -0.51, and estimates of the critical value of tau-dot based on brake adjustments were -0.44 and -0.52, close to the expected value. There were no overall effects of the ground surface or object size. The results are consistent with a tau-dot strategy, where the direction and magnitude of brake adjustments are regulated using tau-dot.
Journal of Experimental Psychology Human Perception & Performance 11/1995; 21(5):996-1014. · 3.06 Impact Factor
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ABSTRACT: Why do humans switch from walking to running at a particular speed? It is proposed that gait transitions behave like nonequilibrium phase transitions between attractors. Experiment 1 examined walking and running on a treadmill while speed was varied. The transition occurred at the equal-energy separatrix between gaits, with predicted shifts in stride length and frequency, a qualitative reorganization in the relative phasing of segments within a leg, a sudden jump in relative phase, enhanced fluctuations in relative phase, and hysteresis. Experiment 2 dissociated speed, frequency, and stride length to show that the transition occurred at a constant speed near the energy separatrix. Results are consistent with a dynamic theory of locomotion in which preferred gaits are characterized by stable phase relationships and minimum energy expenditure, and gait transitions by a loss of stability and the reduction of energetic costs.
Journal of Experimental Psychology Human Perception & Performance 03/1995; 21(1):183-202. · 3.06 Impact Factor
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ABSTRACT: In most models of heading from optic flow a rigid environment is assumed, yet humans often navigate in the presence of independently moving objects. Simple spatial pooling of the flow field would yield systematic heading errors. Alternatively, moving objects could be segmented on the basis of relative motion, dynamic occlusion, or inconsistency with the global flow, and heading determined from the background flow. Displays simulated observer translation toward a frontal random-dot plane, with a 10 deg square moving independently in depth. The path of motion of the object was varied to create a secondary focus of expansion (FOE') 6 deg to the right or left of the actual heading point (FOE), which could bias the perceived heading. There was no effect when the FOE was visible, but when the object moved in front of it, perceived heading was biased toward the FOE' by approximately 1.9 degrees with a transparent object, and approximately 3.4 degrees with an opaque object. The results indicate that scene segmentation does not occur prior to heading estimation, which is consistent with spatial pooling weighted near the FOE. A simple template model based on large-field, center-weighted expansion units accounts for the data. This may actually represent an adaptive solution for navigation with respect to obstacles on the path ahead.
Perception 02/1995; 24(3):315-31. · 1.31 Impact Factor
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ABSTRACT: Gibson's insights into how optic flow can be used by animals to
guide their actions have been formalized to some extent in Warren's laws
of control. We noted that these laws are applicable to any moving agent,
thus this approach could be very successful in the domain of
behavior-based robotics. To demonstrate this we devised control laws for
the obstacle avoidance problem in mobile robotics. Two laws of control
relevant to the problem were proposed and tested on an actual robot in
an unmodified office environment. The success and occasional, yet
understandable, failures of these two laws show that the Gibsonian
approach to visually guided navigation is very promising
Systems, Man, and Cybernetics, 1994. 'Humans, Information and Technology'., 1994 IEEE International Conference on; 11/1994
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ABSTRACT: We outline a theory of infant skill acquisition characterized by an assembly phase, during which a task-specific, low-dimensional action pattern emerges from spontaneous movement in the context of task constraints, and a tuning phase, during which adjustment of the system parameters yields a more energetically efficient and more stable movement. 8 infants were observed longitudinally when bouncing while supported by a harness attached to a spring. We found an initial assembly phase in which kicking was irregular and variable in period, and a tuning phase with more periodic kicking, followed by the sudden appearance of long bouts of sustained bouncing. This "peak" behavior was characterized by oscillation at the resonant frequency of the mass-spring system, an increase in amplitude, and a decrease in period variability. The data are consistent with a forced mass-spring operating at resonance.
Child Development 09/1993; 64(4):1128-42. · 4.72 Impact Factor
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ABSTRACT: Three experiments were performed to examine the role that central and peripheral vision play in the perception of the direction of translational self-motion, or heading, from optical flow. When the focus of radial outflow was in central vision, heading accuracy was slightly higher with central circular displays (10 degrees-25 degrees diameter) than with peripheral annular displays (40 degrees diameter), indicating that central vision is somewhat more sensitive to this information. Performance dropped rapidly as the eccentricity of the focus of outflow increased, indicating that the periphery does not accurately extract radial flow patterns. Together with recent research on vection and postural adjustments, these results contradict the peripheral dominance hypothesis that peripheral vision is specialized for perception of self-motion. We propose a functional sensitivity hypothesis--that self-motion is perceived on the basis of optical information rather than the retinal locus of stimulation, but that central and peripheral vision are differentially sensitive to the information characteristic of each retinal region.
Perception & Psychophysics 06/1992; 51(5):443-54. · 1.37 Impact Factor
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ABSTRACT: Observers viewed random-dot optical flow displays that simulated self-motion on a circular path and judged whether they would pass to the right or left of a target at 16 m. Two dots in two frames are theoretically sufficient to specify circular heading if the orientation of the rotation axis is known. Heading accuracies were better than 1.5 degrees with a ground surface, wall surface, and 3D cloud of dots, and were constant over densities down to 2 dots, consistent with the theory. However, there was an inverse relation between the radius of the observer's path and constant heading error, such that at small radii observers reported heading 3 degrees to the outside of the actual path with the ground and to the inside with the wall and cloud. This may be an artifact of a small display screen.
Journal of Experimental Psychology Human Perception & Performance 03/1991; 17(1):28-43. · 3.06 Impact Factor
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ABSTRACT: All models of self-motion from optical flow assume the instantaneous velocity field as input. We tested this assumption for human observers using random-dot displays that simulated translational and circular paths of movement by manipulating the lifetime and displacement of individual dots. For translational movement, observers were equally accurate in judging direction of heading from a "velocity field" with a two-frame dot life and a "direction field" in which the magnitudes of displacement were randomized while the radial pattern of directions was preserved, but at chance with a "speed field" in which the directions were randomized, preserving only magnitude. Accuracy declined with increasing noise in vector directions, but remained below 2.6 degrees with a 90 degrees noise envelope. Thus, the visual system uses the radial morphology of vector directions to determine translational heading and can tolerate large amounts of noise in this pattern. For circular movement, observers were equally accurate with a 2-frame "velocity field", 3-frame "acceleration" displays, and 2-frame and 3-frame "direction fields", consistent with the use of the pattern of vector directions to locate the center of rotation. The results indicate that successive independent velocity fields are sufficient for perception of translational and circular heading.
Biological Cybernetics 02/1991; 65(5):311-20. · 1.59 Impact Factor
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ABSTRACT: Translation of an observer through a static environment generates a pattern of optical flow that specifies the direction of self-motion, but the retinal flow pattern is confounded by pursuit eye movements. How does the visual system decompose the translational and rotational components of flow to determine heading? It is shown that observers can perceive their direction of self-motion during stationary fixations and pursuit eye movements and with displays that simulate the optical effects of eye movements. Results indicate that the visual system can perform the decomposition with both continuous and discontinuous fields on the basis of flow-field information alone but requires a three-dimensional environmental structure to do so. The findings are inconsistent with general computational models and theories based on the maximum of divergence, oculomotor signals, or multiple fixations but are consistent with the theory of reliance on differential motion produced by environmental variation in depth.
Journal of the Optical Society of America. A, Optics and image science 02/1990; 7(1):160-9.
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ABSTRACT: Patterns of optical flow produced at the eye of a moving observer are important for the guidance of locomotion. This study examined age-related changes in the ability to perceive one's direction of self-motion, or heading, from optical flow, using computer displays that simulate translational or curvilinear movement parallel to a random-dot ground surface. We found small but significant decrements in performance with age, such that the mean heading threshold rises from 1.1 degrees in younger observers to 1.9 degrees in older observers for translation, and from 1.4 degrees to 2.9 degrees for curvilinear movement, under comparable dot density and speed conditions. The absence of an age by dot density interaction indicates that there is no age-related shift in strategy, but rather a general decline in the ability to detect and localize global optical flow patterns. The decrement appears to be due to higher level losses in the visual system rather than ocular or low-level sensory losses. The results may have implications for the control of high-speed locomotion and falls in older adults.
Journal of Gerontology 10/1989; 44(5):P147-53.
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ABSTRACT: Radial patterns of optical flow produced by observer translation could be used to perceive the direction of self-movement during locomotion, and a number of formal analyses of such patterns have recently appeared. However, there is comparatively little empirical research on the perception of heading from optical flow, and what data there are indicate surprisingly poor performance, with heading errors on the order of 5 degrees-10 degrees. We examined heading judgments during translation parallel, perpendicular, and at oblique angles to a random-dot plane, varying observer speed and dot density. Using a discrimination task, we found that heading accuracy improved by an order of magnitude, with 75%-correct thresholds of 0.66 degrees in the highest speed and density condition and 1.2 degrees generally. Performance remained high with displays of 63-10 dots, but it dropped significantly with only 2 dots; there was no consistent speed effect and no effect of angle of approach to the surface. The results are inconsistent with theories based on the local focus of outflow, local motion parallax, multiple fixations, differential motion parallax, and the local maximum of divergence. But they are consistent with Gibson's (1950) original global radial outflow hypothesis for perception of heading during translation.
Journal of Experimental Psychology Human Perception & Performance 12/1988; 14(4):646-60. · 3.06 Impact Factor
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ABSTRACT: A necessary condition for visually guided action is that an organism perceive what actions are afforded by a given environmental situation. Warren (1984) proposed that an affordance such as the climbability of a stairway is determined by the fit between properties of the environment and the organism and can be characterized by optimal points, where action is most comfortable or efficient, and critical points, where a phase transition to a new action occurs. Perceiving an affordance, then, implies perceiving the relation between the environment and the observer's own action system. The present study is an extension of this analysis to the visual guidance of walking through apertures. We videotaped large and small subjects walking through apertures of different widths to determine empirically the critical aperture-to-shoulder-width ratio (A/S) marking the transition from frontal walking to body rotation. These results were compared with perceptual judgments of "passability" under static and moving viewing conditions. Finally, we tested the hypothesis that such judgments are based on intrinsic or body-scaled information specifying aperture width as a ratio of the observer's eyeheight. We conclude (a) that the critical point in free walking occurs at A/S = 1.30, (b) that static monocular information is sufficient for judging passability, and (c) that the perception of passability under such conditions is based on body-scaled eyeheight information.
Journal of Experimental Psychology Human Perception & Performance 09/1987; 13(3):371-83. · 3.06 Impact Factor
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ABSTRACT: Human observers may perceive not only spatial and temporal dimensions of the environment, but also dynamic physical properties that are useful for the control of behavior. A study is presented in which visual and auditory perception of elasticity in bouncing objects, which was specified by kinematic (spatiotemporal) patterns of object motion, were examined. In experiment 1, observers could perceive the elasticity of a bouncing ball and were able to regulate the impulse applied to the ball in a bounce pass. In experiments 2 and 3, it was demonstrated that visual perception of elasticity was based on relative height information, when it was available, and on the duration of a single period under other conditions. Observers did not make effective use of velocity information. In experiment 4, visual and auditory period information were compared and equivalent performance in both modalities was found. The results are interpreted as support for the view that dynamic properties of environmental events are perceived by means of kinematic information.
Perception 02/1987; 16(3):309-36. · 1.31 Impact Factor
