Synchronous and Asynchronous Manipulation Switching of Multiple Robotic Embodiment Using EMG and Eye Gaze

Yukiya Nakanishi, Masaaki Fukuoka, Shunichi Kasahara, Maki Sugimoto

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

3 Citations (Scopus)


Through the use of multiple avatars and robots, the construction of an alter ego whose senses and movements are synchronized with those of the operator has been explored. There are two possible states of operation when manipulating those bodies as synchronous operation: multiple bodies are synchronized simultaneously, and asynchronous operation: a specific body is selectively operated. We propose a system that allows intuitive switching between the active robot and the operation state by Eye gaze and EMG. A two-stage pick-and-place task was performed with the proposed system, and task performance and subjective evaluation of embodiment were analyzed. To consider the coordinates of the tracker in the asynchronous operation of the robot arm, we performed a similar study for a coordinate condition: the absolute coordinate condition, where the coordinates of the tracker are stored in space, and the relative coordinate condition, where only the motion of the tracker is added.

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


  • EMG Sensor
  • Eye Gaze
  • Robot Arm
  • augmented human
  • embodiment
  • multiple bodies

ASJC Scopus subject areas

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


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