Just as in three dimensions there are polyhedra made of two dimensional polygons, in four dimensions there are polychora made of polyhedra. In three dimensions, there are 5 regular polyhedra known as the Platonic solids. In four dimensions, there are 6 convex regular 4-polytopes, the analogues of the Platonic solids. Relaxing the conditions for regularity generates a further 58 convex uniform 4-polytopes, analogous to the 13 semi-regular Archimedean solids in three dimensions. Relaxing the conditions for convexity generates a further 10 nonconvex regular 4-polytopes. In three dimensions, a circle may be extruded to form a cylinder. In four dimensions, there are several different cylinder-like objects. A sphere may be extruded to obtain a spherical cylinder (a cylinder with spherical "caps", known as a spherinder), and a cylinder may be extruded to obtain a cylindrical prism (a cubinder). The Cartesian product of two circles may be taken to obtain a duocylinder. All three can "roll" in four-dimensional space, each with its own properties. In three dimensions, curves can form knots but surfaces cannot (unless they are self-intersecting). In four dimensions, however, knots made using curves can be trivially untied by displacing them in the fourth direction—but 2D surfaces can form non-trivial, non-self-intersecting knots in 4D space. Because these surfaces are two-dimensional, they can form much more complex knots than strings in 3D space can. The Klein bottle is an example of such a knotted surface. Another such surface is the real projective plane. Hypersphere The set of points in Euclidean 4-space having the same distance R from a fixed point P0 forms a hypersurface known as a 3-sphere. The hyper-volume of the enclosed space is: This is part of the Friedmann–Lemaître–Robertson–Walker metric in General relativity where R is substituted by function R(t) with t meaning the cosmological age of the universe. Growing or shrinking R with time means expanding or collapsing universe, depending on the mass density inside. Four-dimensional perception in humans Research using virtual reality finds that humans, in spite of living in a three-dimensional world, can, without special practice, make spatial judgments about line segments embedded in four-dimensional space, based on their length (one dimensional) and the angle (two dimensional) between them. The researchers noted that "the participants in our study had minimal practice in these tasks, and it remains an open question whether it is possible to obtain more sustainable, definitive, and richer 4D representations with increased perceptual