University of Twente Student Theses


Exploring the relation between sense of embodiment & task performance in Telerobotics

Rublein, N. (2022) Exploring the relation between sense of embodiment & task performance in Telerobotics.

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Abstract:Telerobotics is the remote control of a robot and requires high transparency for natural and intuitive interaction. It has been proposed that increased sense of embodiment leads to higher transparency and in turn increases task performance, however this has not been explicitly investigated yet in the domain of telerobotics. This paper aimed to explore the link between the level of SoE and task performance in a user study with a telerobotic setup where in a mixedsubjects design, participants performed a peg & hole task. Two levels of embodiment (supportive & suppressive) have been created by manipulating perceptual cues such as haptic feedback, depth perception and camera perspective. To measure the level of embodiment, surveys, interviews and proprioceptive drift measurements have been administered. Task performance was measured in terms of effectiveness (inserted pegs per trial) and efficiency (time per inserted peg). Results show that 1), no learning behaviour could be observed on the participant level for either effectiveness nor efficiency, 2) there was no relevant difference in the time needed to insert the pegs between the embodiment groups and 3), the supportive embodiment group was 16 % more likely to insert a peg successfully, and 25 to 30 % more likely to insert all pegs in one trial as compared to the suppressive group, thus being generally more task effective. To analyze the relation between task performance measures and SoE sub-components, a correlation analysis has been performed, in which only self-location correlated significantly with effectiveness. Based on the results of the present study and other related studies in the field of embodiment and task performance, it has been shown that neither ownership, nor agency, nor self-location strictly modulate task performance. Instead, it is proposed that the contribution of embodiment to task performance is dependent on the task at hand and to what extent egocentric and allocentric perception generate motor commands and sensory predictions in the internal models of the brain that are critical to executing the task. The present study contributes to the understanding of when and how embodiment can increase task performance in the domain of telerobotics. As such, the results of the present study may guide the design of more effective and efficient telerobotic systems, which may benefit to a plethora of complex and challenging domains, such as tele-surgery or remote rescue & search missions. Additionally, the present study investigated depth perception as a novel perceptual cue to manipulate SoS, which led to significant differences between the embodiment groups in perceived self-location.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Interaction Technology MSc (60030)
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