tactile perception and virtual guidance of movement: from
TRANSCRIPT
Schedae 2010
Prépublication n° 4 | Fascicule n° 1
Francis G. Lestienne, Francine Thullier, Marie-Charlotte Lepelley « Tactile perception and virtual guidance of movement: from clinical to artistic applications » Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).
49
Tactile perception and virtual guidanceof movement: from clinical to artisticapplications
Francis G. Lestienne1, 2, 3, Francine Thullier1, 2, 3, Marie-Charlotte Lepelley1, 3 Université de Caen Basse-Normandie
1ERT 2002 Rapsodie 2EA 4260 Information, Organisation et Action 3Modesco UMS CNRS 843
Recent studies have demonstrated the effi ciency of a vibrotactile device “Tactile Compass” in
guiding the hand in a pointing task during a blind experiment. Based on this work, the introduction
of tactile information is proposed in terms of tactile semantics, which is a promising avenue towards
better support for man-machine communication in various areas: land navigation guidance, clinical
applications such as rehabilitation, and artistic applications such as dance creations.
De récentes études ont démontrées l’effi cacité d’un dispositif constitué de vibrateurs tactiles
(“Boussole Tactile”) permettant le guidage de la main dans une tâche de pointage en aveugle.
Sur la base de ces travaux, il a été proposé que l’introduction des informations tactiles, en termes
de sémantique tactile, dans la communication homme-machine est une ouverture très encoura-
geante pour des domaines variés : guidage pour la navigation terrestre, applications cliniques
telles que la rééducation et applications artistiques telles que la chorégraphie.
Introduction
An anatomical structure comprising hundreds of segments connected by over eight
hundred muscles makes the human body a very complex organism indeed. This complexity
provides the polyarticular chain with the mechanical underpinning for postural stability and
a host of different, coordinated movements whose virtuosity, skill and elegance are ensured
by the sophisticated fl exibility of a plurimuscular system [LES 88] [LES 97]. The core question
remaining is how the nervous system (NS) reconciles control of motor activity expressed in
three-dimensional space with the existence of the pull of gravity [LEST 88b] [LES 02]. This
fundamental question generates and fuels constant debate, to which biomechanics and
neurophysiology have their own contribution to make.
50
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
However, this domain cannot be approached purely in terms of the motor aspect [BON
03]. The perceptual side is of necessity an integral part of any theoretical/experimental
approach to the production of movement [LES 01]. It should be briefl y pointed out that
for organising the positioning or movement of the bodily segments in space the NS is
endowed with specialised interfaces between the organism and the external world: the
sensory receptors [LES 02b] [LES 03].
Four main families of such receptors (Figure 1) can be described [PER 94]. The visual
sensor (1) provides information on the structure and topography of the outside world, while
its peripheral retina also makes it an excellent detector and analyser of optical fl ow [LEJ 06]
[LES 77]. The head’s movements in space can be detected both by the visual system and the
vestibular sensors 1 situated in the inner ear (2), which in combination form a gravito-inertial
focal point that reacts to angular and linear movements of the head. The movements of
the bodily segments and, consequently, articular rotations and variations in the length and
strength of muscles are measured by proprioceptive sensors 2 (3 a, b, c). Finally, the tactile
sensors (4) situated at skin level also contribute to mechano-sensitivity in responding to
deformations of the dermis caused by pressure or friction.
Fig. 1. The four main families of sensory receptors involved in the control of posture and movement (adapted from [PER 94]. Visual (1), vestibular (2), and proprioceptive (3) and tactile (4). See explanation in the text).
1. Vestibular receptors, often described as the balance receptors, comprise two structures: the otolithic or-gans which detect linear acceleration of the head; and the semicircular canals that detect angular accele-ration of the head.
2. Situated in the musculoskeletal system: muscle (muscle spindle 3a), articulation (joint receptor 3b) and ten-don (Golgi tendon organ 3c). Proprioceptive and vestibular sensitivity contribute to kinaesthetic sensitivity (Gk. kines, “ movement”) which provides the brain with information regarding movement, position, the strength of the various bodily segments and bodily orientation
51
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
1 Complementarity of sensory information
It should not be forgotten that as early as 1902 French mathematician Henri Poincaré [POI 68]
pointed out in his philosophical writings – and in particular in Science and Hypothesis – the
role of movement in the genesis of our notion of space. For Poincaré, while movements
take place in three-dimensional space, it is not necessary to represent them in this space,
but only to represent the physical sensations accompanying them . These sensations thus
play a predominant part in the construction of a space that would never have come to exist
without them. In his analysis of the role of visual impressions , Poincaré demonstrates that
visual space is only a part of space and that true space is motor space, and that experience
has taught us that it is convenient to ascribe three dimensions to space .
Regarding the vestibular sensors needed for our sense of direction, it is clear that these
organs exist to warn us of changes taking place in the external world – to detect acceleration
due to movement and rotation of the head – and not to warn us that space is three-dimen-
sional . Through integration of information at neuronal level we deduce the orientation of our
head. Nonetheless, these sensations teach us nothing about the movements of the torso and
limbs relative to the head, nor about the changes of position the latter can undergo. Thus
there is a patent need for complementarity between the muscular and vestibular sensations
[LEJ 04] associated with the tactile ones [KAV 08].
In this context, Poincaré assumed that adequate perception of the orientation of the body
in the environment is based on the integration of signals from different sensory systems.
As a consequence, defi cits in this integration may cause results in substantial errors in the
perception of body orientation.
This hypothesis was confi rmed in studies of the control of posture in weightlessness [CLE
84], [LES 88], In these experiments, astronauts wore a head-mounted optical device in which
they could see a non-structured surface stabilized in respect to the head. Thus, based on
vision, they could not detect the orientation of the body in the space station. When asked
to “stand vertically” to the fl oor with their feet attached to it, astronauts leaned the body
forward by more than 30 deg, while reporting that their body is perpendicular to the fl oor.
In weightlessness, the vestibular system is dysfunctional and its afferent output may not
be used to identify the vertical direction. Tactile perception from the feet is also distorted
compared to that elicited by the body weight during standing on the earth. Therefore,
natural visual, vestibular, and tactile clues allowing one to identify the vertical direction
on the earth were not available in these experiments. EMG analysis had shown (fi g 2) that,
rather than relaxing leg muscles, astronauts actively specifi ed the posture that they consider
vertical. During standing on the earth, the activity of ankle extensors dominates over fl exor
activity [CLE 84] whereas in weightlessness, the activity of ankle fl exors becomes dominant.
With adaptation to weightlessness, the deviation of the body from the vertical to the fl oor
of the spaceship progressively decreased, and the body orientation and the projection of
the body’s centre of gravity approach those observed during standing in normal weight
condition on the earth (Figure 2); [LES 88].
Complementarity of sensory information is necessary not only for correct perception
of the posture but also for an internal representation of the body geometry called the
body scheme [HEA 11]. Adrian [ADR 47] suggested that the body scheme is internally
represented in relation to the external world. More recently, in his book Descartes’Error,
Damasio in 1994 [DAM 99] paraphrased the same idea: “the body, as represented in the
brain, may constitute the indispensable frame of reference for the neural processes that
we experience as the mind…”. He also suggested that in the domain of human action
“ the body is used as a yardstick ”.
52
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
Fig. 2. muscle activity of leg postural muscles and the body orientation of an astronaut in weightlessness (adapted from [LES 88] [LES 88b]). Left panel: EMG activity of the tiblialis anterior (fl exor) and soleus (exten-sor) muscles of the ankle joint. Right diagram: The astronaut’s head was covered with a optical sytem that was lit inside and fi xed in relation to the head (stabilized vision). The feet were attached to the fl oor of the spaceship. The astronaut was instructed to “stand upright” i.e., perpendicular to the fl oor. The 3 left diagrams show the postural orientation 2 days before the fl ight (D-2) and 2 and 7days after the begin-ning of the fl ight (D + 2; D + 7) The vertical lines mark the projection of the body’s center of gravity (CG) on the fl oor.
There are several studies favoring the existence of an internal body scheme that is
preserved as a coherent whole in changing external conditions. In particular, it has been
shown that when asked to draw ellipses in different planes during the fl ight in a spaceship,
subjects orient them in relation to the longitudinal axis of the body [GUR 93], [LIP 02],
regardless of the orientation of the body in the environment. The interpretation of complex
tactile stimuli on the body surface is also preserved in these conditions and the stimuli are
correctly identifi ed in relation to the longitudinal axis of the body [GUR 93b].
2 Sensory substitution and tactile information
Another signifi cant aptitude of the NS has to do with the existence of sensory substitution,
related to the brain’s extreme plasticity. Indeed the brain is able to use information from
an artifi cial receptor in place of that usually transmitted from an intact sense organ [BAC
96]. The classical illustration of sensory substitution is provided by the Braille system, which
allows the blind to read by replacing visual with tactile information.
Advances in the instrumentation technology of sensory substitution have presented
sophisticated tools for compensation of sensory loss such as sight function. One of the
most well known form of sensory substitution devices was Bach-y-Rita’s TVSS (Tactile Vision
Substitution System) that converted the image from a video camera into a tactile image and
coupled it to the tactile receptors on the back of his blind subject. [BAC 69].
Numerous studies of the sensitivity of tactile receptors to vibration have shown that
low-level mechanical vibration is a particularly effective stimulus for activation of the cutane-
ous mechanoreceptors sensitive to mechanical deformations of the skin. Experiment using
“vibro-tactile matrix” has shown that subject can perceive complex tactile stimuli such
53
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
as letters and digits [LEP 05], [LEP 08]. The task of interpretation of these tactile images,
applied to different skin areas under varied condition was not affected by the absence of
the gravitational vertical, although this task is closely associated with mechanisms for the
perception of body confi guration, as well as the spatial orientation of the different body
parts [GUR 93b],
Specifi c role of information of plantar tactile origin in posture control has been demon-
strated in respect of the sole’s front and rear contact points [AND 88], [KAV 99], [KAV 01],
[ROL 02]. In association with kinaesthetic – vestibular and proprioceptive – information, the
tactile mode plays a specifi c part in fi ne posture control [AIM 07] and so contributes to the
construction of the subjective vertical, which itself becomes decisive in orientation control
when visual perception of the vertical has been disturbed [MIT 86].
While tactile receptors appear in the examples just quoted as a sensory modality working
with the vestibular, proprioceptive and visual systems in perception of bodily orientation,
the same receptors can also, after a learning process, play a part in cognitive operations
involving recognition of forms.
3 The tactile compass
Our studies [LEP 05], [LEP 08] [LEP 09] have enabled us to establish the technological and
methodological foundations for an instrument for guiding – or assisting – movement which
draws on the tactile sensory modality springing from the cutaneous mechanoreceptors. The
capacities of these tactile receptors in terms of spatial and temporal encoding are linked
to the extreme sensitivity, acuity and rapidity of our processing of tactile signals [CHO 00]
[CHO 03] [SHI 73] [SKL 99]. On the basis of this cutaneous sensitivity we had the idea of
making use of tactile encoding provided by a matrix or “tactile compass”, a device made
up of vibrotactile microstimulators placed on the surface of the skin and delivering tactile
messages intended to guide movement and aid terrestrial navigation.
The vibrotactile device (Caylar Society ©) (Figure 3) consisted in 49 microvibrators (called
“pins”) laid out in a 7x7 matrix, a battery, a micro-controller and a connector serial port. The
49 microvibrators contained inertial vibrators activated by micromotors (diameter: 2 mm).
The distance between each vibrator was 6 mm. The oscillation frequency of the pins was
50-60 Hz with a magnitude of 2 mm. The tactile messages were provided in a dynamic way
by the successive activation of each pin.
Fig. 3. Two types of tactile compass: “compact” on the left and “distributed” on the right, allowing for confi guration according to anatomical localisation.
54
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
From the work using the Caylar’s vibrotactile device it has emerged that the subjects
had a highly developed ability to recognise “tactile forms” and “tactile images”. The most
signifi cant shaping factors in these studies have a character that is distinctive in terms of
two notions: those of tactile semantics and perceptual learning .
Tactile semantics results from structural representations recognisable not by their (static)
shape, but by a specifi c pattern of (dynamic) movement of points of vibro-tactile stimulation
applied to the skin. The movement of these points thus forms a mnemonic tactile trace
suggesting the appropriate physical action in the light of a set of tactile prescribers:
– directional: left, right, high, low, forward, back, etc.
– cinematic: advance, halt, accelerate, slow down, etc.
– kinesiological: ascend, descend, turn, etc.
Perceptual learning results from cerebral plasticity in the cognitive processing of tactile
encoding. This means that learning is facilitated by the implementation of learning procedures.
Input from new technology – virtual and augmented reality – will assist the development of
original cognitive protocols allowing for the enhancement of perceptual learning.
4 Applicative programs
Recent studies investigated the effi ciency of the Caylar’s vibrotactile device to guide the hand
in a pointing task in a blind experiment. The performances obtained using tactile coding
establish the fact that tactile information transmitted via our vibrotactile device is involved
in the processes of to control movement in tridimensional space [LEP 09]. Based on this
work, it is clear that introduction of tactile information is a promising avenue toward better
supporting human-machine communication in various domains such as navigational spatial
guidance, rehabilitaion, handicap and the artistic community. The applicative aspects are
managed by the ERT 2002 “Rapsodie” a Technological Research Team at the University of
Caen Basse-Normandie 3. Backed by Caylar, the industrial partner, the team works with two
university hospital partners 4 and a partner of the world of culture 5.
4.1 Land Navigation
Several studies have demonstrated the usefulness of tactile modality in multi-task situations:
land navigation [DUI 05], [ELL 06], Vehicle navigation [ROC 00], [VAN 03], [VAN 04], aware-
ness, attention [RAJ 00], [SHI 73]. Likely advantage of tactile guidance we have examined
the feasibility and the effectiveness of tactile interfaces using patterns of vibratory code for
land navigation. In this context, the ERT 2002 initiated an advanced technology program
(Exploratory and Innovative Research 6 ) to develop tactile assistance in navigation on earth
in a hostile environment by means of a “tactile compass” made up of a matrix of micro-
vibrators, that reproduce tactile encoding on skin surface to orient the wearer (Figure 4).
3. www.unicaen.fr/recherche/mrsh/rapsodie4. The Montreal Rehabilitation Institute (affi liated with the University of Montreal) and the Jewish Rehabilita-
tion Hospital (affi liated with McGill University).5. CDA 95.fr: Enghien-les-Bains Art Centre.6. REI 08 C0001 (Délégation Générale à l’Armement).
55
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
Fig. 4. Tactile compass applied to control of terrestrial navigation
4.2 Rehabilitation
We are involved in various projects dealing with sensorimotot rehabilitaion after neurological
injury affecting the contrôle of equilibrium and/or the functional abilities in limb coordination.
Tactile sensorial modality and cerebral plasticity are the most salient elements that form the
context of this project and that allow development of rehabilitation techniques combining
the tactile matrix and virtual reality techniques.
The core instrumentation is the “tactile compass”, integrated in the he AMOSIT plate-
form (Motor Function Assistance through Tactile Sensitivity) that send messages from the
movement sensors. The AMOSIT plateform can have a dual function: assistance in guiding
gesture and assistance in guiding verticality (Figure 5).
Fig. 5. The AMOSIT plateform (Motor Function Assistance through Tactile Sensitivity) makes use of the fas-cination of video games in balance rehabilitation by working via tactility. Miniaturised portable device (left). Fixed training device (right). TC: Tactile compass incorporated into an undershirt. C: Cinematic sensors – incli-nometer – incorporated into a beltT: Transmission of analogue messages (cinematic in this case) towards the tactile compass and a virtual reality helmet activating a 3D clone (coloured silhouette) so as to make it coin-cide with the reference clone (black silhouette)
56
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
4.3 Verticality and tactility, new fi elds of artistic research
Taken in conjunction with the latest technological developments of the “Tactile compass”,
our academic work in relation with the clinical projects means we can foresee new modes
of interaction and communication between art and fundamental science 7 with applications
in the fi eld of sensory handicap. In one instance the application of the academic research to
dance and new technology, in combination with our studies on the guidance of movement
with a “tactile compass”, has found concrete expression in dance works written with the
Pedro Pauwels company 8.
Sens 3 or “Verticalité et Tactilité” is a performance you discover barefoot. In his exploration
of the domain of the sensory, Pedro Pauwels seeks to make tangible movement that must
reconcile the force of gravity with the maintaining of bodily balance. In Sens 3 movement
sensors attached to the performers’ bodies send the audience real-time tactile information
on the dancers’ “verticality”. Reception of the information is effected by a system of vibrators
set in a “tactile cushion” under the spectators’ feet (Figure 6). Sens 3 thus sets up a tactile
communication between performers and spectators which in a way resembles the sign
language of braille, the semantics of which – admittedly very limited – could be likened to
kinesiological prescribers such as lean , turn , crouch , etc.
Fig. 6. Sens 3 “Verticality and Tactility is a choreographic work you discover barefoot.” Motion sensors on the dancers’ bodies provide spectators with real time tactile information on the dancers’ “verticality”. This is done using tactile cushions placed under the spectators’ feet.
7. A partnership agreement signed between the University of Caen and the Enghien-les-Bains Art Centre in 2007 enhances the already close links between art and science via choreographic experiments using the potential of new technology to infl uence the non-visual perception of the body in movement.
8. Francis G. Lestienne and Pedro Pauwels, a choreographer, have set out to make the public share “aug-mented perceptions”. Between the two there sprang up a fruitful collaboration involving two forward-loo-king adaptive dance works, Sens 2 and Sens 3. In Sens 2 the muscle melody of the dancing body generates a non-visual perception of that body via a “recording of its internal noise” – in this case the electromyogra-phic (EMG) activity of the muscles. The sounds obtained are then incorporated into a musical score for the dance piece. Sens 2 enables transcendence of the visual art of dance by using a sound-based “visibility” of gestural poetry to render it complementary. The digitised EMG signals are transformed in real time into sound signals allowing for the upsurge of muscle melodies shot through with “internal emotion”; these melodies can then be perceived by the spectator via the other perceptual channel of hearing.
57
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
References
[ADR 47] ADRIAN M ., The physiological background of perception, Oxford, Clarendon Press, 1947.
[AIM 07] AIMONETTI J.M., HOSPOD V., ROLL J.P., RIBOT-CISCAR E ., “Cutaneous afferents provide a neuro-
nal population vector that encodes the orientation of human ankle movements”, J Physiol , vol. 580,
pp. 649-58, 2007.
[AND 88] ANDRE-DEHAYS C., LESTIENNE F.G., REVEL M., “Sensibilité kinésthétique de la cheville. Importance
de la position articulaire et des afférences tactiles de la plante des pieds”, Science et Motricité, vol 4,
pp. 32-37, 1988.
[BAC 69] BACH-Y-RITA P., COLLINS C.C., SAUNDERS F.A., WHITE B., SCADDEN L., “Vision substitution by tactile
image projection”, Nature, vol. 221, pp. 963-964, 1969.
[BAC 96] BACH-Y-RITA P. , “Substitution sensorielle et qualia”, in Perception et Intermodalité , J. Proust
(ed.), Paris, Presses Universitaires de France, pp. 81-100, 1996.
[BON 03] BONNET C., LESTIENNE F.G., Percevoir et produire le mouvement, Paris, Armand Colin, 2003 .
[CHO 00] CHOLEWIAK R.W. and COLLINS A.A., “The generation of vibrotactile patterns on a linear array:
infl uences of body site, time, and presentation mode”, Perception & Psychophysics, vol. 62 (6), pp. 1220-
1235, 2000.
[CHO 03] CHOLEWIAK R.W. and COLLINS A.A., “Vibrotactile localization on the arm: effects of place, space,
and age”, Perception and Psychophysics, vol. 65, pp. 1058-1077, 2003.
[CLE 84] CLEMENT G., GURFINKEL V.S., LESTIENNE F., LIPSHITS M.I., POPOV K.E., “Adaptation of postural control
to weightlessness”, Exp. Brain Res., vol. 57, pp. 61-72, 1984 .
[DAM 94] DAMASIO A.R., Descartes’Errors, New York, Putman’s, 1994 .
[DUI 05] DUISTERMAAT M ., Tactile Land Navigation in night operations, Memorandum TNO-DV3 2005
M06, 46 p. , 2005.
[ELL 06] ELLIOTT L.R., REDDEN E.S., PETTITT R.A., CARSTENS C.B., VAN ERP J.B.F., DUISTERMAAT M. , Tactile
Guidance for Land Navigation, Army Research Laboratory-TR-3814, 26 p., 2006 .
[FUC 03] FUCHS P., ARNALDI B., TISSEAU J., Le traité de la réalité virtuelle, Presses de l’Ecole des Mines de
Paris, vol. 1, 2003 .
[HEA 11] HEAD H., HOLMES G., “Sensory disturbances from cerebral lesions”, Brain, vol. 34, pp. 102-244,
1911 .
[GUR 93] GURFINKEL V., LESTIENNE F.G., LEVIK Y., POPOV K.E., Lefort L., “Egocentric references and human
spatial orientation in microgravity. 2. Body centered coordinates in the task of drawing ellipses with
prescribed orientation”, Experimental Brain Research, vol. 95, pp. 343-348, 1993.
[KAV 99] KAVOUNOUDIAS A., ROLL R., ROLL J.P., “Specifi c whole-body shifts induced by frequency-modulated
vibrations of human plantar soles”, Neurosci. Lett., vol. 266, pp. 181-184, 1999.
[KAV 01] KAVOUNOUDIAS A., ROLL R., ROLL J.P., “Foot sole and ankle muscle inputs contribute jointly to
human erect posture regulation”, J Physiol, vol. 532, pp. 869-878, 2001.
[KAV 08] KAVOUNOUDIAS A., ROLL J.P., ANTON J.L., NAZARIAN B., ROTH M., ROLL R ., “Proprio-tactile integration
for kinesthetic perception: An fMRI study”, Neuropsychologia, vol. 46, pp. 567-575, 2008.
[LEJ 04] LEJEUNE L., THOUVARECQ R., ANDERSON D.I., JOUEN F ., “Infl uence of posture on the kinesthetic
estimation of the main orientations”, Acta Psychologica, vol. 117, pp. 13-28, 2004.
[LEJ 06] LEJEUNE L., ANDERSON D.I., CAMPOS J.J., WITHERINGTON D.C., UCHIYAMA I., BARBU-ROTH M., “ Responsi-
veness to terrestrial optic fl ow in infancy: Does locomotor experience play a role?”, Human Movement
Science, vol. 25, pp. 4-17, 2006.
[LEP 05] LEPELLEY M.C., EL IDRISSI H., THULLIER F., LESTIENNE F.G., “Body orientation and identifi cation of
complex tactile stimuli”, Progress in motor control, V: a multidisciplinary perspective, (Proceedings,
Pennsylvania State University, USA), New York, Springer, 2005.
58
Schedae, 2010, prépublication n° 4 (fascicule n° 1, p. 49 - 58).http://www.unicaen.fr/services/puc/ecrire/preprints/preprint0042010.pdf
[LEP 08] LEPELLEY M.C., “Production du geste dans l’espace tridimensionnel/du mouvement dansé au gui-
dage tactile du mouvement de pointage”, thesis University of Caen Basse-Normandie, 167 p., 2008.
[LEP 09] LEPELLEY M.C., LEJEUNE L., LESTIENNE F.G., “Study of tactile guidance of the hand in a pointing task
by means of a vibrotactile device”, Computer Methods in Biomechanics and Biomedical Engineering,
vol. 12, supplement 1, pp. 169-170 (2), 2009.
[LES 77] LESTIENNE F., SOECHTING J., BERTHOZ A., “Postural readjustements by linear motion of visual scenes”,
Exp. Brain Res., vol. 28, pp. 363-384, 1977.
[LES 88] LESTIENNE F.G., GURFINKEL V., “Postural activity in weightlessness: a dual process underlying
adaptation to an unusual environment”, Trends in Neurosci, vol. 11, pp. 359-363, 1988.
[LES 88b] LESTIENNE F.G., GURFINKEL V., “Posture as an organizational structure based on a dual process: a
formal basis to interprete changes of posture in weightlessness”, Prog. Brain Res., vol. 80, pp. 307-313,
1998 .
[LES 97] LESTIENNE F., GURFINKEL V., “Réfl exions sur le concept de représentation interne: le contrôle du
mouvement et de l’attitude posturale”, in Les neurosciences et la philosophie de l’action, J.L. Petit (ed.),
Paris, Librairie Philosophique J. Vrin, pp. 177-198, 1997.
[LES 01] LESTIENNE F.G., FELDMAN A.G., “Du schéma corporel au concept de Confi guration de Référence:
une approche théorique de la production du mouvement”, Evolutions Psychomotrices, vol. 53, pp.127-
143, 2001.
[LES 02] LESTIENNE F.G., THULLIER F., “L’orientation du mouvement et de la posture dans l’espace tridi-
mensionnel”, Cahiers de la MRSH , vol. 30, pp. 35-40, 2002.
[LES 02b] LESTIENNE F.G., FELDMAN A.G., “Une approche théorique de la production du mouvement: du
modèle lambda au concept de Confi guration de Référence”, Science et Motricité, vol. 45, pp. 9-43,
2002.
[LES 03] LESTIENNE F.G., THULLIER F., FELDMAN A., “Action-producing frames of reference for motor control”,
in Progress in Motor Control III, M.L. Latash (ed.), Champaign, Il., Human Kinetics Publishers, pp. 3-34,
2003.
[LIP 02] LIPSHITS M., GURFINKEL V., LESTIENNE F.G ., ROLL J.P., “ The neurophysiological studies in weightlessness.
I Control of posture and movement”, in Results of station “MIR” , vol. 2, Scientifi c Medico-Biological
Program, Academy Science Russia, pp. 479-494, 2002.
[MIT 86 ] MITTELSTAEDT H., “The subjective vertical as a function of visual and extraretinal cues”, Acta
Psychologica, vol. 63, pp. 63-85, 1986.
[PER 94] PERRIN PH., LESTENNE F.G., Mécanisme de l’équilibration humaine, Paris, Masson, 1994.
[POI 68] POINTCARE H., La science et l’hypothèse, Paris, Flammarion, 1968.
[RAJ 00] RAJ A., KASS S. and PERRY J ., “Vibro-Tactile Displays for Improving Spatial Awareness”, in Procee-
dings of the Human Factors and Ergonomics Society Annual Meeting, Santa Monica, CA, pp. 181-184,
2000.
[ROC 00] ROCHLIS J.L. and NEWMAN D.J.A. , “Tactile Display for International Space Station (ISS) Extravehicular
Activity (EVA)”, Aviation, Space, and Environmental Medicine, vol. 71 (6), pp. 571-578, 2000 .
[ROL 02] ROLL R., KAVOUNOUDIAS A., ROLL J.P., “Cutaneous afferents from human plantar sole contribute
to body posture awareness”, Neuroreport, vol. 13, pp. 1957-1961, 2002.
[SHI 73] SHIFFRIN R.M., CRAIG J.C., COHEN E. , “On the degree of attention and capacity limitation in tactile
processing”, Perception and Psychophysics, vol. 13, pp. 328- 336,1973.
[SKL 99] SKLAR A.E. , “Good vibrations: tactile feedback un support of attention allocation and human-
automation coordination in event-driven domain”, Human Factors, vol. 41, pp. 543-552, 1999.
[VAN 03 ] VAN ERP J.B.F., VAN VEEN H.A.H.C ., “A Multi-purpose Tactile Vest for Astronauts in the Interna-
tional Space Station”, in Proceedings of Eurohaptics, University of Dublin, Dublin, Ireland, pp. 405-408,
2003 .
[VAN 04 ] VAN ERP J.B.F, VAN VEEN H.A.H.C. , “Vibrotactile in-vehicle navigation system”, Transportation
Research Part F 7, pp. 247-256, 2004.