ロボットアームの参照系に対応した運動・認知指標の測定に基づく身体化評価

抄録

The robotic limbs using a body remapping approach often followeither a user’s reference frame 1) fixed outside a 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 embodiment of robotic limbs and the user’s motor control process. We asked 12 participants to perform point-to-point tasks with the virtual robotic limbs remapped to the participants’ feet. The virtual robotic limb tips followed the participants’ feet and each reference frame condition (Space frame, Torso frame, and Head frame). As a result, we found higher task performance in the Torso frame condition than the Head frame condition on the reaction time and movement straightness of the virtual robotic limbs. The virtual robotic limbs’ movement straightness and jerk based on the natural human behavior showed that participants manipulated the virtual robotic limbs as their own body in the Torso frame condition. The sense of agency and body ownership showed that the reference frame condition affected their occurrence and attribution.