Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan.
Sensors (Basel). 2022 Dec 13;22(24):9779. doi: 10.3390/s22249779.
There is a growing need for robots that can be remotely controlled to perform tasks of one's own choice. However, the SoA (Sense of Agency: the sense of recognizing that the motion of an observed object is caused by oneself) is reduced because the subject of the robot motion is identified as external due to shared control. To address this issue, we aimed to suppress the decline in SoA by presenting auditory feedback that aims to blur the distinction between self and others. We performed the tracking task in a virtual environment under four different auditory feedback conditions, with varying levels of automation to manipulate the virtual robot gripper. Experimental results showed that the proposed auditory feedback suppressed the decrease in the SoA at a medium level of automation. It is suggested that our proposed auditory feedback could blur the distinction between self and others, and that the operator attributes the subject of the motion of the manipulated object to himself.
人们越来越需要能够远程控制的机器人来执行自己选择的任务。然而，由于共享控制，机器人运动的主体被识别为外部，因此代理感（即识别观察到的物体的运动是由自己引起的感觉）会降低。为了解决这个问题，我们旨在通过提供旨在模糊自我和他人之间区别的听觉反馈来抑制代理感的下降。我们在虚拟环境中进行了跟踪任务，在四种不同的听觉反馈条件下，使用不同程度的自动化来操作虚拟机器人夹具。实验结果表明，所提出的听觉反馈在中等自动化水平下抑制了代理感的下降。这表明，我们提出的听觉反馈可以模糊自我和他人之间的区别，并且操作者将被操作对象的运动主体归因于自己。
