Presence: Teleoperators and Virtual Environments

Weisenberger, Janet M.

doi: 10.1162/pres_e_00198pmid: N/A

Friedman, Doron; Guger, Christoph

doi: 10.1162/pres_e_00199pmid: N/A

Weisenberger, Janet M.;

doi: 10.1162/PRES_e_00198pmid: N/A

Friedman, Doron;Guger, Christoph;

doi: 10.1162/PRES_e_00199pmid: N/A

Cohen, Ori;Druon, Sébastien;Lengagne, Sébastien;Mendelsohn, Avi;Malach, Rafael;Kheddar, Abderrahmane;Friedman, Doron;

doi: 10.1162/PRES_a_00191pmid: N/A

We present a robotic embodiment experiment based on real-time functional magnetic resonance imaging (rt-fMRI). In this study, fMRI is used as an input device to identify a subject's intentions and convert them into actions performed by a humanoid robot. The process, based on motor imagery, has allowed four subjects located in Israel to control a HOAP3 humanoid robot in France, in a relatively natural manner, experiencing the whole experiment through the eyes of the robot. Motor imagery or movement of the left hand, the right hand, or the legs were used to control the robotic motions of left, right, or walk forward, respectively.

Cohen, Ori; Druon, Sébastien; Lengagne, Sébastien; Mendelsohn, Avi; Malach, Rafael; Kheddar, Abderrahmane; Friedman, Doron

doi: 10.1162/pres_a_00191pmid: N/A

We present a robotic embodiment experiment based on real-time functional magnetic resonance imaging (rt-fMRI). In this study, fMRI is used as an input device to identify a subject's intentions and convert them into actions performed by a humanoid robot. The process, based on motor imagery, has allowed four subjects located in Israel to control a HOAP3 humanoid robot in France, in a relatively natural manner, experiencing the whole experiment through the eyes of the robot. Motor imagery or movement of the left hand, the right hand, or the legs were used to control the robotic motions of left, right, or walk forward, respectively.

Kishore, Sameer;González-Franco, Mar;Hintemüller, Christoph;Kapeller, Christoph;Guger, Christoph;Slater, Mel;Blom, Kristopher J.;

doi: 10.1162/PRES_a_00192pmid: N/A

Recent advances in humanoid robot technologies have made it possible to inhabit a humanlike form located at a remote place. This allows the participant to interact with others in that space and experience the illusion that the participant is actually present in the remote space. Moreover, with these humanlike forms, it may be possible to induce a full-body ownership illusion, where the robot body is perceived to be one's own. We show that it is possible to induce the full-body ownership illusion over a remote robotic body with a highly robotic appearance. Additionally, our results indicate that even with nonmanual control of a remote robotic body, it is possible to induce feelings of agency and illusions of body ownership. Two established control methods, an SSVEP-based BCI and eye tracking, were tested as a means of controlling the robot's gesturing. Our experience and the results indicate that both methods are tractable for immersive control of a humanoid robot in a social telepresence setting.

Kishore, Sameer; González-Franco, Mar; Hintemüller, Christoph; Kapeller, Christoph; Guger, Christoph; Slater, Mel; Blom, Kristopher J.

doi: 10.1162/pres_a_00192pmid: N/A

Recent advances in humanoid robot technologies have made it possible to inhabit a humanlike form located at a remote place. This allows the participant to interact with others in that space and experience the illusion that the participant is actually present in the remote space. Moreover, with these humanlike forms, it may be possible to induce a full-body ownership illusion, where the robot body is perceived to be one's own. We show that it is possible to induce the full-body ownership illusion over a remote robotic body with a highly robotic appearance. Additionally, our results indicate that even with nonmanual control of a remote robotic body, it is possible to induce feelings of agency and illusions of body ownership. Two established control methods, an SSVEP-based BCI and eye tracking, were tested as a means of controlling the robot's gesturing. Our experience and the results indicate that both methods are tractable for immersive control of a humanoid robot in a social telepresence setting.

Leonardis, Daniele; Frisoli, Antonio; Barsotti, Michele; Carrozzino, Marcello; Bergamasco, Massimo

doi: 10.1162/pres_a_00190pmid: N/A

This study investigates how the sense of embodiment in virtual environments can be enhanced by multisensory feedback related to body movements. In particular, we analyze the effect of combined vestibular and proprioceptive afferent signals on the perceived embodiment within an immersive walking scenario. These feedback signals were applied by means of a motion platform and by tendon vibration of lower limbs, evoking illusory leg movements. Vestibular and proprioceptive feedback were provided congruently with a rich virtual scenario reconstructing a real city, rendered on a head-mounted display (HMD). The sense of embodiment was evaluated through both self-reported questionnaires and physiological measurements in two experimental conditions: with all active sensory feedback (highly embodied condition), and with visual feedback only. Participants' self-reports show that the addition of both vestibular and proprioceptive feedback increases the sense of embodiment and the individual's feeling of presence associated with the walking experience. Furthermore, the embodiment condition significantly increased the measured galvanic skin response and respiration rate. The obtained results suggest that vestibular and proprioceptive feedback can improve the participant's sense of embodiment in the virtual experience.

Leonardis, Daniele;Frisoli, Antonio;Barsotti, Michele;Carrozzino, Marcello;Bergamasco, Massimo;

doi: 10.1162/PRES_a_00190pmid: N/A

This study investigates how the sense of embodiment in virtual environments can be enhanced by multisensory feedback related to body movements. In particular, we analyze the effect of combined vestibular and proprioceptive afferent signals on the perceived embodiment within an immersive walking scenario. These feedback signals were applied by means of a motion platform and by tendon vibration of lower limbs, evoking illusory leg movements. Vestibular and proprioceptive feedback were provided congruently with a rich virtual scenario reconstructing a real city, rendered on a head-mounted display (HMD). The sense of embodiment was evaluated through both self-reported questionnaires and physiological measurements in two experimental conditions: with all active sensory feedback (highly embodied condition), and with visual feedback only. Participants' self-reports show that the addition of both vestibular and proprioceptive feedback increases the sense of embodiment and the individual's feeling of presence associated with the walking experience. Furthermore, the embodiment condition significantly increased the measured galvanic skin response and respiration rate. The obtained results suggest that vestibular and proprioceptive feedback can improve the participant's sense of embodiment in the virtual experience.