Parallel Ping-Pong: Exploring Parallel Embodiment through Multiple Bodies by a Single User

Kazuma Takada, Midori Kawaguchi, Akira Uehara, Yukiya Nakanishi, Mark Armstrong, Adrien Verhulst, Kouta Minamizawa, Shunichi Kasahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)


We propose Parallel Ping-Ping, a system that realizes "Parallel Embodiment", the experience of a single user controlling multiple bodies simultaneously. The user plays ping-pong by controlling 2 robot arms using a Virtual Reality (VR) controller, while looking at 2 tables through a Head Mounted Display (HMD). The computer constantly calculates the ball trajectory and the motion for the robot arm to hit the balls back automatically through color cameras. Based on this calculation, the system integrates the motion of the user's controller, maintaining the sense of agency of the robot arms even though single user plays ping-pong with two opponents. In addition, the user's view through the HMD is automatically switched to the appropriate table according to the calculated position and direction, so that the user can perceive both tables' situation smoothly. We exhibited a three-day Parallel Ping-Pong demonstration and surveyed 142 participants about their perception while controlling multiple bodies. In this paper, we introduce the Parallel Ping-Pong system framework and the insights from the survey of demonstration. We also discuss the design implication for Parallel Embodiment based on these results.

Original languageEnglish
Title of host publicationProceedings of Augmented Humans Conference 2022, AHs 2022
PublisherAssociation for Computing Machinery
Number of pages10
ISBN (Electronic)9781450396325
Publication statusPublished - 2022 Mar 13
Event2022 Augmented Humans Conference, AHs 2022 - Virtual, Online, Germany
Duration: 2022 Mar 132022 Mar 15

Publication series

NameACM International Conference Proceeding Series


Conference2022 Augmented Humans Conference, AHs 2022
CityVirtual, Online


  • Body Ownership
  • Cybernetic Avatar
  • Parallel Embodiment
  • Robotic Arm
  • Sense of Agency

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications


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