Human-Robot Body Experience

✍ Scribed by Philipp Beckerle

• Publisher: Springer
• Year: 2o21
• Tongue: English
• Leaves: 107
• Series: Springer Series on Touch and Haptic Systems
• Edition: 1
• Category: Library

✦ Synopsis

This monograph presents innovative research regarding the body experience of human individuals who are using assistive robotic devices such as wearable robots or teleoperation systems. The focus is set on human-in-the-loop experiments that help to empirically evaluate how users experience devices. Moreover, these experiments allow for further examination of the underlying mechanisms of body experience through extending existing psychological paradigms, e.g., by disentangling tactile feedback from contacts.

Besides reporting and discussing psychological examinations, the influence of various aspects of engineering design is investigated, e.g., different implementations of haptic interfaces or robot control. As haptics are of paramount importance in this tight type of human-robot interaction, it is explored with respect to modality as well as temporal and spatial effects.
The first part of the book motivates the research topic and gives an in-depth analysis of the experimental requirements. The second and third part present experimental designs and studies of human-robot body experience regarding the upper and lower limbs as well as cognitive models to predict them. The fourth part discusses a multitude of design considerations and provides directions to guide future research on bidirectional human-machine interfaces and non-functional haptic feedback.

✦ Table of Contents

Series Editors’ Foreword
Foreword
Preface
Contents
Part I Fundamentals and Requirements
1 Introduction
1.1 Motivation
1.2 Objectives and Approach
1.3 Structure
References
2 Concepts, Potentials, and Requirements
2.1 Body Representations, Presence, and Their Intersections
2.1.1 Body Schema
2.1.2 Body Image
2.1.3 Presence
2.1.4 Intersections
2.2 Human-Robot Interaction Potentials
2.2.1 Motor Control and Machine Learning
2.2.2 Haptic Perception and Sensory Feedback
2.2.3 Assessment Metrics and Methods
2.3 Human-in-the-loop System Design Requirements
2.3.1 Robotic Approaches
2.3.2 Design Requirements
2.3.3 Design Implications
References
Part II Upper Limbs
3 Robotic Hand Experience
3.1 Upper Limb Body Experience
3.2 Robotic Hand Illusion (RobHI) with Tactile Feedback
3.3 Feedback Interplay in the RobHI
3.3.1 Human-in-the-loop Paradigms
3.3.2 Results and Observations
3.4 Discussion and Perspectives
References
4 Virtual Hand Experience
4.1 Feedback Modalities in the Virtual Hand Illusion (VHI)
4.1.1 VHI Augmented by Wearable Haptics
4.1.2 Results and Observations
4.2 Embodiment and Agency as Control Quality Metrics
4.2.1 Human-in-the-loop Paradigms
4.2.2 Results and Observations
4.3 Discussion and Perspectives
References
Part III Lower Limbs
5 Robotic Leg Experience
5.1 Lower Limb Body Experience
5.2 Implementation of Robotic Leg Illusions (RobLI)
5.2.1 Mechatronic Hardware
5.2.2 Motion Control
5.3 Human-in-the-loop Evaluation of the RobLI
5.3.1 Materials and Methods
5.3.2 Results and Observations
5.4 Discussion and Perspectives
References
6 Cognitive Models of Body Experience
6.1 Potentials of Cognitive Body Models in Robotics
6.1.1 Modeling Approaches
6.1.2 Robotic Applications
6.2 Bayesian Modeling of the Rubber Foot Illusion (RFI)
6.2.1 Cognitive Models of Multisensory Integration
6.2.2 Results and Observations
6.3 Discussion and Perspectives
References
Part IV Future Directions
7 Design Considerations
7.1 Wireless Multi-DoF Sensing and Feedback
7.1.1 Sensor Glove Concept
7.1.2 General Applicability
7.2 Integrating Psychophysiological Measurement
7.2.1 Measurement System Concept
7.2.2 General Applicability
7.3 Tailoring Mechatronic Designs
7.3.1 Delphi-Based Limb Conception
7.3.2 General Applicability
7.4 Fostering Ecologically Valid Scenarios
7.4.1 Wearable Hand/Arm Concept
7.4.2 General Applicability
References
8 Research Outlook
8.1 Bi-directional Interfaces
8.2 Models and Experiments
8.3 Variety of Human Touch
References