{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,2]],"date-time":"2026-10-02T19:40:34Z","timestamp":1790970034061,"version":"4.1.0"},"reference-count":58,"publisher":"Public Library of Science (PLoS)","issue":"9","license":[{"start":{"date-parts":[[2025,9,18]],"date-time":"2025-09-18T00:00:00Z","timestamp":1758153600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["www.plosone.org"],"crossmark-restriction":false},"short-container-title":["PLoS One"],"abstract":"<jats:p>Perception by touch is fundamentally linked to the motor system. A hallmark of this linkage takes the form of stereotyped haptic \u201cexploratory procedures\u201d [1], movement patterns that emerge when people set a perceptual goal such as judging the roughness of a textured surface. This paper expands the study of touch-directed movements by asking what patterns emerge when people encounter and interact with novel objects without explicitly specified goals. Participants were invited to freely interact with an art installation containing novel objects with distinct design features, intended to vary familiarity, structural affordance, and aesthetic response. Objects\u2019 affordances were additionally varied over time by utilizing jamming, a physical mechanism that induces changes in stiffness and plasticity. From video recordings, four categories of spontaneous \u201cinteractive procedures\u201d differentiated by underlying goals were reliably identified: passive observational, active perceptual, constructive, and hedonic. Perceptual actions were most frequent, indicating an overriding goal of acquiring information about physical properties. The prevalence of other interactive procedures varied across objects, demonstrating the influence of perceptual affordances and prior knowledge. Changes in state further moderated interactions, such that interactions were longer in the stiff\/jammed state, and the occurrence of a state change during an interactive procedure lengthened its duration. These findings extend our understanding of haptic exploration beyond explicitly goal-directed contexts, revealing how spontaneous responses in complex and dynamic environments \u00a0are linked to perceptual outcomes and prior knowledge.<\/jats:p>","DOI":"10.1371\/journal.pone.0331844","type":"journal-article","created":{"date-parts":[[2025,9,18]],"date-time":"2025-09-18T17:26:04Z","timestamp":1758216364000},"page":"e0331844","update-policy":"https:\/\/doi.org\/10.1371\/journal.pone.corrections_policy","source":"Crossref","is-referenced-by-count":2,"title":["Emergent patterns of interaction with dynamic objects"],"prefix":"10.1371","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3843-9129","authenticated-orcid":true,"given":"Buse","family":"Aktas\u00b8","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paris","family":"Myers","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emily","family":"Salem","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9701-9186","authenticated-orcid":true,"given":"Roberta L.","family":"Klatzky","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Robert D.","family":"Howe","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"340","published-online":{"date-parts":[[2025,9,18]]},"reference":[{"issue":"3","key":"pone.0331844.ref001","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1016\/0010-0285(87)90008-9","article-title":"Hand movements: a window into haptic object recognition","volume":"19","author":"SJ Lederman","year":"1987","journal-title":"Cogn Psychol"},{"issue":"1","key":"pone.0331844.ref002","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/0001-6918(93)90070-8","article-title":"Extracting object properties through haptic exploration","volume":"84","author":"SJ Lederman","year":"1993","journal-title":"Acta Psychol (Amst)"},{"issue":"2","key":"pone.0331844.ref003","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1109\/TOH.2016.2613055","article-title":"Linkage between Free Exploratory Movements and Subjective Tactile Ratings","volume":"10","author":"T Yokosaka","year":"2017","journal-title":"IEEE Trans Haptics"},{"issue":"3","key":"pone.0331844.ref004","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1109\/TOH.2021.3069626","article-title":"Task and Material Properties Interactively Affect Softness Explorations Along Different Dimensions","volume":"14","author":"M Cavdan","year":"2021","journal-title":"IEEE Trans Haptics"},{"issue":"4","key":"pone.0331844.ref005","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1109\/TOH.2011.19","article-title":"Exploratory Strategies in Haptic Softness Discrimination Are Tuned to Achieve High Levels of Task Performance","volume":"4","author":"L Kaim","year":"2011","journal-title":"IEEE Trans Haptics"},{"issue":"3","key":"pone.0331844.ref006","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1167\/17.3.18","article-title":"Inferring the stiffness of unfamiliar objects from optical, shape, and motion cues","volume":"17","author":"F Schmidt","year":"2017","journal-title":"J Vis"},{"issue":"4","key":"pone.0331844.ref007","doi-asserted-by":"crossref","first-page":"726","DOI":"10.1037\/0096-1523.19.4.726","article-title":"Haptic exploration in the presence of vision","volume":"19","author":"RL Klatzky","year":"1993","journal-title":"J Exp Psychol Hum Percept Perform"},{"issue":"4","key":"pone.0331844.ref008","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1109\/TOH.2018.2836427","article-title":"Systematic Relations between Affective and Sensory Material Dimensions in Touch","volume":"11","author":"K Drewing","year":"2018","journal-title":"IEEE Trans Haptics"},{"key":"pone.0331844.ref009","doi-asserted-by":"crossref","DOI":"10.1109\/WHC.2017.7989851","article-title":"Feeling and feelings: Affective and perceptual dimensions of touched materials and their connection.","author":"K Drewing","year":"2017","journal-title":"2017 IEEE World Haptics Conference (WHC)"},{"issue":"3","key":"pone.0331844.ref010","doi-asserted-by":"crossref","first-page":"430","DOI":"10.1086\/378619","article-title":"Individual differences in haptic information processing: the \u201cneed for touch\u201d scale","volume":"30","author":"J Peck","year":"2003","journal-title":"J Consum Res"},{"issue":"2","key":"pone.0331844.ref011","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1109\/TOH.2011.54","article-title":"Please Touch: Object Properties that Invite Touch","volume":"5","author":"RL Klatzky","year":"2012","journal-title":"IEEE Trans Haptics"},{"issue":"4","key":"pone.0331844.ref012","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1167\/19.4.20","article-title":"Integration of prior knowledge during haptic exploration depends on information type","volume":"19","author":"AC Zoeller","year":"2019","journal-title":"J Vis"},{"key":"pone.0331844.ref013","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1109\/WHC.2015.7177693","article-title":"Predictive and sensory signals systematically lower peak forces in the exploration of softer objects.","author":"A Lezkan","year":"2015","journal-title":"2015 IEEE World Haptics Conference (WHC)"},{"issue":"4","key":"pone.0331844.ref014","doi-asserted-by":"crossref","first-page":"421","DOI":"10.1016\/0010-0285(90)90009-S","article-title":"Haptic classification of common objects: knowledge-driven exploration","volume":"22","author":"SJ Lederman","year":"1990","journal-title":"Cogn Psychol"},{"key":"pone.0331844.ref015","article-title":"The theory of affordances","author":"J Gibson","year":"1977","journal-title":"Ecol Psychol"},{"issue":"2","key":"pone.0331844.ref016","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.newideapsych.2011.12.003","article-title":"Affordances can invite behavior: Reconsidering the relationship between affordances and agency","volume":"30","author":"R Withagen","year":"2012","journal-title":"New Ideas in Psychology"},{"issue":"6","key":"pone.0331844.ref017","doi-asserted-by":"crossref","first-page":"1948","DOI":"10.3758\/s13414-011-0151-5","article-title":"Behavioral dynamics of the affordance \u201cgraspable\u201d","volume":"73","author":"SM Lopresti-Goodman","year":"2011","journal-title":"Atten Percept Psychophys"},{"key":"pone.0331844.ref018","first-page":"92","article-title":"Affordance in interaction.","author":"D Vyas","year":"2006","journal-title":"Proceedings of the 13th Eurpoean conference on Cognitive ergonomics: trust and control in complex socio-technical systems"},{"issue":"33","key":"pone.0331844.ref019","doi-asserted-by":"crossref","first-page":"19809","DOI":"10.1073\/pnas.2001772117","article-title":"An objective evaluation of the beholder\u2019s response to abstract and figurative art based on construal level theory","volume":"117","author":"C Durkin","year":"2020","journal-title":"Proc Natl Acad Sci U S A"},{"issue":"4","key":"pone.0331844.ref020","article-title":"Curious Objects: How Visual Complexity Guides Attention and Engagement","volume":"45","author":"Z Sun","year":"2021","journal-title":"Cogn Sci"},{"key":"pone.0331844.ref021","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/11236.001.0001","volume-title":"Active matter","author":"S Tibbits","year":"2017"},{"issue":"29","key":"pone.0331844.ref022","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.aav7874","article-title":"Programming soft robots with flexible mechanical metamaterials","volume":"4","author":"A Rafsanjani","year":"2019","journal-title":"Sci Robot"},{"issue":"28","key":"pone.0331844.ref023","doi-asserted-by":"crossref","first-page":"12441","DOI":"10.1073\/pnas.0914069107","article-title":"Programmable matter by folding","volume":"107","author":"E Hawkes","year":"2010","journal-title":"Proc Natl Acad Sci U S A"},{"issue":"11","key":"pone.0331844.ref024","doi-asserted-by":"crossref","first-page":"560","DOI":"10.3390\/mi9110560","article-title":"Recent Advances in Tunable and Reconfigurable Metamaterials","volume":"9","author":"S Bang","year":"2018","journal-title":"Micromachines (Basel)"},{"key":"pone.0331844.ref025","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1145\/2501988.2502032","article-title":"inFORM.","author":"S Follmer","year":"2013","journal-title":"Proceedings of the 26th annual ACM symposium on User interface software and technology"},{"key":"pone.0331844.ref026","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1109\/WHC.2013.6548379","article-title":"Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming.","author":"AA Stanley","year":"2013","journal-title":"2013 World Haptics Conference (WHC)"},{"issue":"1","key":"pone.0331844.ref027","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1039\/C4SM01923G","article-title":"Celebrating Soft Matter\u2019s 10th Anniversary: toward jamming by design","volume":"11","author":"HM Jaeger","year":"2015","journal-title":"Soft Matter"},{"issue":"16","key":"pone.0331844.ref028","doi-asserted-by":"crossref","first-page":"2007554","DOI":"10.1002\/adfm.202007554","article-title":"A modeling framework for jamming structures","volume":"31","author":"B Akta\u015f","year":"2021","journal-title":"Adv Funct Mater"},{"issue":"17","key":"pone.0331844.ref029","doi-asserted-by":"crossref","first-page":"1707136","DOI":"10.1002\/adfm.201707136","article-title":"Mechanically Versatile Soft Machines through Laminar Jamming","volume":"28","author":"YS Narang","year":"2018","journal-title":"Adv Funct Mater"},{"issue":"44","key":"pone.0331844.ref030","doi-asserted-by":"crossref","first-page":"18809","DOI":"10.1073\/pnas.1003250107","article-title":"Universal robotic gripper based on the jamming of granular material","volume":"107","author":"E Brown","year":"2010","journal-title":"Proc Natl Acad Sci"},{"issue":"6","key":"pone.0331844.ref031","doi-asserted-by":"crossref","first-page":"724","DOI":"10.1089\/soro.2019.0053","article-title":"Lightweight Highly Tunable Jamming-Based Composites","volume":"7","author":"YS Narang","year":"2020","journal-title":"Soft Robot"},{"key":"pone.0331844.ref032","first-page":"3576","article-title":"STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module.","author":"M Cianchetti","year":"2013","journal-title":"IEEE RSJ Int Conf Intell Robots Syst"},{"issue":"5","key":"pone.0331844.ref033","doi-asserted-by":"crossref","first-page":"519","DOI":"10.1089\/109493103769710541","article-title":"Eye-tracking in immersive environments: a general methodology to analyze affordance-based interactions from oculomotor dynamics","volume":"6","author":"P Renaud","year":"2003","journal-title":"Cyberpsychol Behav"},{"key":"pone.0331844.ref034","doi-asserted-by":"crossref","first-page":"103582","DOI":"10.1016\/j.bandc.2019.103582","article-title":"Tool and object affordances: An ecological eye-tracking study","volume":"135","author":"G Federico","year":"2019","journal-title":"Brain Cogn"},{"issue":"1","key":"pone.0331844.ref035","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1017\/S0952523808080899","article-title":"Vision, eye movements, and natural behavior","volume":"26","author":"MF Land","year":"2009","journal-title":"Vis Neurosci"},{"key":"pone.0331844.ref036","first-page":"110","article-title":"Procedures for haptic object exploration vs. manipulation","author":"RL Klatzky","year":"1990","journal-title":"Vis Action Control Grasping"},{"issue":"2","key":"pone.0331844.ref037","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1109\/TAMD.2012.2232291","article-title":"A Simple Ontology of Manipulation Actions Based on Hand-Object Relations","volume":"5","author":"F Worgotter","year":"2013","journal-title":"IEEE Trans Auton Mental Dev"},{"issue":"4","key":"pone.0331844.ref038","doi-asserted-by":"crossref","first-page":"356","DOI":"10.1037\/0096-3445.116.4.356","article-title":"There\u2019s more to touch than meets the eye: The salience of object attributes for haptics with and without vision","volume":"116","author":"RL Klatzky","year":"1987","journal-title":"J Exp Psychol Gen"},{"issue":"3","key":"pone.0331844.ref039","doi-asserted-by":"crossref","first-page":"755","DOI":"10.1037\/0096-1523.25.3.755","article-title":"Manipulation with no or partial vision","volume":"25","author":"KA Purdy","year":"1999","journal-title":"J Exp Psychol Hum Percept Perform"},{"issue":"1","key":"pone.0331844.ref040","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1007\/s00163-008-0060-3","article-title":"Affordance based design: a relational theory for design","volume":"20","author":"JRA Maier","year":"2009","journal-title":"Res Eng Des"},{"key":"pone.0331844.ref041","first-page":"79","article-title":"Technology affordances.","author":"WW Gaver","year":"1991","journal-title":"Proceedings of the SIGCHI conference on Human factors in computing systems Reaching through technology - CHI \u201991"},{"key":"pone.0331844.ref042","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1007\/978-3-642-03658-3_11","article-title":"Bodily Explorations in Space: Social Experience of a Multimodal Art Installation.","author":"G Jacucci","year":"2009","journal-title":"Human-Computer Interaction \u2013 INTERACT 2009. Berlin, Heidelberg: Springer Berlin Heidelberg"},{"issue":"3","key":"pone.0331844.ref043","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1002\/wcs.1226","article-title":"Embodied cognition","volume":"4","author":"L Foglia","year":"2013","journal-title":"Wiley Interdiscip Rev Cogn Sci"},{"issue":"1","key":"pone.0331844.ref044","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2442106.2442109","article-title":"Embodied cognition and the magical future of interaction design","volume":"20","author":"D Kirsh","year":"2013","journal-title":"ACM Trans Comput-Hum Interact"},{"key":"pone.0331844.ref045","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1109\/HAPTICS.2014.6775477","article-title":"Perception of a Haptic Jamming display: Just noticeable differences in stiffness and geometry.","author":"AM Genecov","year":"2014","journal-title":"2014 IEEE Haptics Symposium (HAPTICS). Houston, TX, USA: IEEE"},{"issue":"5","key":"pone.0331844.ref046","doi-asserted-by":"crossref","first-page":"279","DOI":"10.1097\/SIH.0b013e3181e9e783","article-title":"A stiffness discrimination experiment including analysis of palpation forces and velocities","volume":"5","author":"E Karadogan","year":"2010","journal-title":"Simul Healthc"},{"key":"pone.0331844.ref047","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1109\/HAPTICS.2008.4479918","article-title":"Haptic Identification of Stiffness and Force Magnitude.","author":"SA Cholewiak","year":"2008","journal-title":"2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems"},{"key":"pone.0331844.ref048","doi-asserted-by":"crossref","first-page":"967","DOI":"10.1145\/2207676.2208541","article-title":"Affordances in HCI.","author":"V Kaptelinin","year":"2012","journal-title":"Proceedings of the SIGCHI Conference on Human Factors in Computing Systems"},{"issue":"2","key":"pone.0331844.ref049","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1080\/1463922042000295669","article-title":"Assistance in human\u2013machine interaction: a conceptual framework and a proposal for a taxonomy","volume":"6","author":"H Wandke *","year":"2005","journal-title":"Theoretical Issues in Ergonomics Science"},{"issue":"4","key":"pone.0331844.ref050","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1006\/ijhc.2000.0454","article-title":"Towards a cognitive approach to human\u2013machine cooperation in dynamic situations","volume":"54","author":"JM Hoc","year":"2001","journal-title":"Int J Hum-Comput Stud"},{"issue":"9","key":"pone.0331844.ref051","doi-asserted-by":"crossref","first-page":"572","DOI":"10.1016\/j.ijhcs.2010.03.004","article-title":"To play or not to play: A cross-temporal investigation using hedonic and instrumental perspectives to explain user intentions to explore a technology","volume":"68","author":"M Magni","year":"2010","journal-title":"Int J Hum-Comput Stud"},{"key":"pone.0331844.ref052","first-page":"1","article-title":"All Work and No Play?","author":"QV Liao","year":"2018","journal-title":"Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems"},{"key":"pone.0331844.ref053","article-title":"The Huggable: A therapeutic robotic companion for relational, affective touch.","author":"WD Stiehl","year":"2006","journal-title":"ACM SIGGRAPH 2006 Emerging Technologies"},{"issue":"2","key":"pone.0331844.ref054","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1007\/s12369-011-0126-7","article-title":"The role of affective touch in human-robot interaction: Human intent and expectations in touching the haptic creature","volume":"4","author":"S Yohanan","year":"2012","journal-title":"Int J Soc Robot"},{"issue":"4","key":"pone.0331844.ref055","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1007\/s12369-017-0446-3","article-title":"Affective touch in human\u2013robot interaction: Conveying emotion to the Nao robot","volume":"10","author":"R Andreasson","year":"2018","journal-title":"Int J Soc Robot"},{"key":"pone.0331844.ref056","first-page":"133","article-title":"Object appreciation through haptic interaction","author":"M Butler","year":"2008","journal-title":"Hello Are You Landsc Educ Technol Proc Ascilite"},{"key":"pone.0331844.ref057","first-page":"380","article-title":"The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception.","author":"AE Block","year":"2021","journal-title":"ACM\/IEEE International Conference on Human-Robot Interaction"},{"issue":"1","key":"pone.0331844.ref058","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1007\/s12369-019-00542-x","article-title":"How does it feel to clap hands with a robot?","volume":"12","author":"NT Fitter","year":"2020","journal-title":"Int J Soc Robot"}],"container-title":["PLOS One"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dx.plos.org\/10.1371\/journal.pone.0331844","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,18]],"date-time":"2025-09-18T17:26:14Z","timestamp":1758216374000},"score":1,"resource":{"primary":{"URL":"https:\/\/dx.plos.org\/10.1371\/journal.pone.0331844"}},"subtitle":[],"editor":[{"given":"Ziyu","family":"Qi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"editor"}]}],"short-title":[],"issued":{"date-parts":[[2025,9,18]]},"references-count":58,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2025,9,18]]}},"URL":"https:\/\/doi.org\/10.1371\/journal.pone.0331844","relation":{},"ISSN":["1932-6203"],"issn-type":[{"value":"1932-6203","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,18]]}}}