The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process

Kuniharu Sakurada; Ryota Kondo; Fumihiko Nakamura; Masaaki Fukuoka; Michiteru Kitazaki; Maki Sugimoto

doi:10.1145/3519391.3522754

The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process

Kuniharu Sakurada, Ryota Kondo, Fumihiko Nakamura, Masaaki Fukuoka, Michiteru Kitazaki, Maki Sugimoto

Department of Information and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The robotic limbs using a body remapping approach often follow either the user's reference frame 1) fixed outside the user's body (Space frame), 2) centered on a user's torso (Torso frame), or 3) centered on a user's head (Head frame). In this study, we investigate the effect of the reference frame on the sense of embodiment and the user's motor control process. We asked 12 participants to perform some point-to-point tasks with the virtual robotic limbs remapped to the participants' feet. The virtual robotic limbs tip followed the participants' feet and each reference frame condition (Space frame, Torso frame, and Head frame). As a result, the reaction time, the movement straightness, and the movement priority were significantly high rate in the Torso frame condition. The subjective score on the sense of embodiment showed that the reference frame condition contributed to the sense of embodiment.

Original language	English
Title of host publication	Proceedings of Augmented Humans Conference 2022, AHs 2022
Publisher	Association for Computing Machinery
Pages	104-115
Number of pages	12
ISBN (Electronic)	9781450396325
DOIs	https://doi.org/10.1145/3519391.3522754
Publication status	Published - 2022 Mar 13
Event	2022 Augmented Humans Conference, AHs 2022 - Virtual, Online, Germany Duration: 2022 Mar 13 → 2022 Mar 15

Publication series

Name	ACM International Conference Proceeding Series

Conference

Conference	2022 Augmented Humans Conference, AHs 2022
Country/Territory	Germany
City	Virtual, Online
Period	22/3/13 → 22/3/15

Keywords

motor control process
reference frame
robotic limbs
sense of embodiment

ASJC Scopus subject areas

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

Access to Document

10.1145/3519391.3522754

Cite this

Sakurada, K., Kondo, R., Nakamura, F., Fukuoka, M., Kitazaki, M., & Sugimoto, M. (2022). The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process. In Proceedings of Augmented Humans Conference 2022, AHs 2022 (pp. 104-115). (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3519391.3522754

The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process. / Sakurada, Kuniharu; Kondo, Ryota; Nakamura, Fumihiko et al.
Proceedings of Augmented Humans Conference 2022, AHs 2022. Association for Computing Machinery, 2022. p. 104-115 (ACM International Conference Proceeding Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sakurada, K, Kondo, R, Nakamura, F, Fukuoka, M, Kitazaki, M & Sugimoto, M 2022, The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process. in Proceedings of Augmented Humans Conference 2022, AHs 2022. ACM International Conference Proceeding Series, Association for Computing Machinery, pp. 104-115, 2022 Augmented Humans Conference, AHs 2022, Virtual, Online, Germany, 22/3/13. https://doi.org/10.1145/3519391.3522754

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abstract = "The robotic limbs using a body remapping approach often follow either the user's reference frame 1) fixed outside the user's body (Space frame), 2) centered on a user's torso (Torso frame), or 3) centered on a user's head (Head frame). In this study, we investigate the effect of the reference frame on the sense of embodiment and the user's motor control process. We asked 12 participants to perform some point-to-point tasks with the virtual robotic limbs remapped to the participants' feet. The virtual robotic limbs tip followed the participants' feet and each reference frame condition (Space frame, Torso frame, and Head frame). As a result, the reaction time, the movement straightness, and the movement priority were significantly high rate in the Torso frame condition. The subjective score on the sense of embodiment showed that the reference frame condition contributed to the sense of embodiment.",

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author = "Kuniharu Sakurada and Ryota Kondo and Fumihiko Nakamura and Masaaki Fukuoka and Michiteru Kitazaki and Maki Sugimoto",

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AB - The robotic limbs using a body remapping approach often follow either the user's reference frame 1) fixed outside the user's body (Space frame), 2) centered on a user's torso (Torso frame), or 3) centered on a user's head (Head frame). In this study, we investigate the effect of the reference frame on the sense of embodiment and the user's motor control process. We asked 12 participants to perform some point-to-point tasks with the virtual robotic limbs remapped to the participants' feet. The virtual robotic limbs tip followed the participants' feet and each reference frame condition (Space frame, Torso frame, and Head frame). As a result, the reaction time, the movement straightness, and the movement priority were significantly high rate in the Torso frame condition. The subjective score on the sense of embodiment showed that the reference frame condition contributed to the sense of embodiment.

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The Reference Frame of Robotic Limbs Contributes to the Sense of Embodiment and Motor Control Process

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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