Exteroception and exproprioception by dynamic touch are different functions of the inertia tensor

When an object is held and wielded, a time-invariant quantity of the wielding dynamics is the inertia tensor Iij. The 3 x 3 quantity Iij is composed of moments of inertia (on the diagonal) and products of inertia (off the diagonal). Examination of Iij as a function of different locations at which a cylindrical object is grasped revealed that the products related systematically to grip position (a direction), and both the products and moments taken together related systematically to the extent of the rod to one side of the hand (a magnitude in a direction). In two experiments, observers wielded an occluded rod that was held at an intermediate point along its length and reproduced both the felt grip position and partial rod length. In both experiments, perceived grip position was a function of the rod's products of inertia and perceived partial rod length was a function of the moments and products. Discussion focuses on the specificity of exteroception and exproprioception to Iij.