Ryo Takizawa
ABSTRACT
An inter-personal shared body is an extended body that allows an avatar or robot to be controlled by multiple people. It is possible for operators to share control over the actions of the shared body. A shared body can be operated well when the same actions are performed by its operators. However, when their actions are not the same, we need to have an adaptive control method for the operators to maintain a sense of agency and ownership. In this study, we propose dynamic adjustment methods to control a shared body using EMG sensors and movements of the operators.
Supplemental Material
- Dimitra Blana, Theocharis Kyriacou, Joris M. Lambrecht, and Edward K. Chadwick. 2016. Feasibility of using combined EMG and kinematic signals for prosthesis control: A simulation study using a virtual reality environment. Journal of Electromyography and Kinesiology 29 (2016), 21 – 27. https://doi.org/10.1016/j.jelekin.2015.06.010 International Shoulder Group 2014.Google Scholar
Cross Ref
- Niclas Braun, Stefan Debener, Nadine Spychala, Edith Bongartz, Peter Sörös, Helge H. O. Müller, and Alexandra Philipsen. 2018. The Senses of Agency and Ownership: A Review. Frontiers in Psychology 9 (2018), 535. https://doi.org/10.3389/fpsyg.2018.00535Google ScholarCross Ref
- John Brooke. 1996. SUS : A Quick and Dirty Usability Scale. Usability Evaluation in Industry(1996).Google Scholar
- H. G. Debarba, E. Molla, B. Herbelin, and R. Boulic. 2015. Characterizing embodied interaction in First and Third Person Perspective viewpoints. In 2015 IEEE Symposium on 3D User Interfaces (3DUI). 67–72. https://doi.org/10.1109/3DUI.2015.7131728Google ScholarCross Ref
- Adam Drogemuller, adrien verhulst, Benjamin Volmer, Bruce Thomas, Masahiko Inami, and Maki Sugimoto. 2019. Real Time Remapping of a Third Arm in Virtual Reality. In ICAT-EGVE 2019 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments, Yasuaki Kakehiand Atsushi Hiyama (Eds.). The Eurographics Association. https://doi.org/10.2312/egve.20191281Google Scholar
- R. Fribourg, N. Ogawa, L. Hoyet, F. Argelaguet, T. Narumi, M. Hirose, and A. Lecuyer. 2020. Virtual Co-Embodiment: Evaluation of the Sense of Agency while Sharing the Control of a Virtual Body among Two Individuals. IEEE Transactions on Visualization and Computer Graphics (2020), 1–1.Google Scholar
- T. Hagiwara, M. Sugimoto, M. Inami, and M. Kitazaki. 2019. Shared Body by Action Integration of Two Persons: Body Ownership, Sense of Agency and Task Performance. In 2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR). 954–955.Google Scholar
- Ludovic Hoyet, Ferran Argelaguet, Corentin Nicole, and Anatole Lécuyer. 2016. ”Wow! I Have Six Fingers!”: Would You Accept Structural Changes of Your Hand in VR?Frontiers in Robotics and AI 3, 27 (2016).Google Scholar
- Mohamad Arif Fahmi Ismail and Sotaro Shimada. 2016. ‘Robot’ Hand Illusion under Delayed Visual Feedback: Relationship between the Senses of Ownership and Agency. PLOS ONE 11, 7 (07 2016), 1–9. https://doi.org/10.1371/journal.pone.0159619Google Scholar
- Y. Iwasaki, K. Ando, S. Iizuka, M. Kitazaki, and H. Iwata. 2020. Detachable Body: The Impact of Binocular Disparity and Vibrotactile Feedback in Co-Presence Tasks. IEEE Robotics and Automation Letters 5, 2 (2020), 3477–3484.Google ScholarCross Ref
- Atsushi Izumihara, Tomoya Sasaki, Masahiro Ogino, Reona Takamura, and Masahiko Inami. 2019. Transfantome: Transformation into Bodies of Various Scale and Structure in Multiple Spaces. In ACM SIGGRAPH 2019 Emerging Technologies(SIGGRAPH ’19). Association for Computing Machinery, New York, NY, USA, Article 27, 2 pages. https://doi.org/10.1145/3305367.3327980Google ScholarDigital Library
- Shunichi Kasahara, Mitsuhito Ando, Kiyoshi Suganuma, and Jun Rekimoto. 2016. Parallel Eyes: Exploring Human Capability and Behaviors with Paralleled First Person View Sharing. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems(CHI ’16). Association for Computing Machinery, New York, NY, USA, 1561–1572. https://doi.org/10.1145/2858036.2858495Google ScholarDigital Library
- H. Kawasaki, H. Iizuka, S. Okamoto, H. Ando, and T. Maeda. 2010. Collaboration and skill transmission by first-person perspective view sharing system. In 19th International Symposium in Robot and Human Interactive Communication. 125–131.Google Scholar
- Konstantina Kilteni, Raphaela Groten, and Mel Slater. 2012. The Sense of Embodiment in Virtual Reality. Presence: Teleoper. Virtual Environ. 21, 4 (Dec. 2012), 373–387. https://doi.org/10.1162/PRES_a_00124Google ScholarDigital Library
- Ryohei Komiyama, Takashi Miyaki, and Jun Rekimoto. 2017. JackIn Space: Designing a Seamless Transition between First and Third Person View for Effective Telepresence Collaborations. In Proceedings of the 8th Augmented Human International Conference(AH ’17). Association for Computing Machinery, New York, NY, USA, Article 14, 9 pages. https://doi.org/10.1145/3041164.3041183Google ScholarDigital Library
- Ryota Kondo, Yamato Tani, Maki Sugimoto, Masahiko Inami, and Michiteru Kitazaki. 2020. Scrambled body differentiates body part ownership from the full body illusion. Scientific Reports 10, 1 (March 2020), 5274. https://doi.org/10.1038/s41598-020-62121-9Google ScholarCross Ref
- Ananda Sankar Kundu, Oishee Mazumder, Prasanna Kumar Lenka, and Subhasis Bhaumik. 2018. Hand Gesture Recognition Based Omnidirectional Wheelchair Control Using IMU and EMG Sensors. Journal of Intelligent & Robotic Systems 91, 3 (Sept. 2018), 529–541. https://doi.org/10.1007/s10846-017-0725-0Google ScholarDigital Library
- P. Lin and H. Y. Chen. 2018. Design and implement of a rehabilitation system with surface electromyography technology. In 2018 IEEE International Conference on Applied System Invention (ICASI). 513–515.Google ScholarCross Ref
- Shohei Nagai, Shunichi Kasahara, and Jun Rekimoto. 2015. LiveSphere: Sharing the Surrounding Visual Environment for Immersive Experience in Remote Collaboration. In Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction(TEI ’15). Association for Computing Machinery, New York, NY, USA, 113–116. https://doi.org/10.1145/2677199.2680549Google ScholarDigital Library
- Jun Nishida and Kenji Suzuki. 2017. BioSync: A Paired Wearable Device for Blending Kinesthetic Experience. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems(CHI ’17). Association for Computing Machinery, New York, NY, USA, 3316–3327. https://doi.org/10.1145/3025453.3025829Google ScholarDigital Library
- Sukhvinder S. Obhi and Preston Hall. 2011. Sense of agency and intentional binding in joint action. Experimental Brain Research 211, 3 (April 2011), 655. https://doi.org/10.1007/s00221-011-2675-2Google ScholarCross Ref
- F. Parietti and H. H. Asada. 2017. Independent, voluntary control of extra robotic limbs. In 2017 IEEE International Conference on Robotics and Automation (ICRA). 5954–5961.Google ScholarDigital Library
- A. L. Rincon, H. Yamasaki, and S. Shimoda. 2016. Design of a video game for rehabilitation using motion capture, EMG analysis and virtual reality. In 2016 International Conference on Electronics, Communications and Computers (CONIELECOMP). 198–204.Google Scholar
- MHD Yamen Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa, and Masahiko Inami. 2018. Fusion: Full Body Surrogacy for Collaborative Communication. In ACM SIGGRAPH 2018 Emerging Technologies(SIGGRAPH ’18). Association for Computing Machinery, New York, NY, USA, Article 7, 2 pages. https://doi.org/10.1145/3214907.3214912Google ScholarDigital Library
- Tomoya Sasaki, MHD Yamen Saraiji, Charith Lasantha Fernando, Kouta Minamizawa, and Masahiko Inami. 2017. MetaLimbs: Multiple Arms Interaction Metamorphism. In ACM SIGGRAPH 2017 Emerging Technologies(SIGGRAPH ’17). Association for Computing Machinery, New York, NY, USA, Article 16, 2 pages. https://doi.org/10.1145/3084822.3084837Google ScholarDigital Library
- Atsushi Takagi, Masaya Hirashima, Daichi Nozaki, and Etienne Burdet. 2019. Individuals physically interacting in a group rapidly coordinate their movement by estimating the collective goal. eLife 8 (feb 2019), e41328. https://doi.org/10.7554/eLife.41328Google Scholar
- R. Takizawa, A. Verhulst, K. Seaborn, M. Fukuoka, A. Hiyama, M. Kitazaki, M. Inami, and M. Sugimoto. 2019. Exploring Perspective Dependency in a Shared Body with Virtual Supernumerary Robotic Arms. In 2019 IEEE International Conference on Artificial Intelligence and Virtual Reality (AIVR). 25–257.Google Scholar
- Thomas Waltemate, Irene Senna, Felix Hülsmann, Marieke Rohde, Stefan Kopp, Marc Ernst, and Mario Botsch. 2016. The Impact of Latency on Perceptual Judgments and Motor Performance in Closed-Loop Interaction in Virtual Reality. In Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology(VRST ’16). Association for Computing Machinery, New York, NY, USA, 27–35. https://doi.org/10.1145/2993369.2993381Google ScholarDigital Library
- Andrea Stevenson Won, Jeremy Bailenson, Jimmy Lee, and Jaron Lanier. 2015. Homuncular Flexibility in Virtual Reality. Journal of Computer-Mediated Communication 20, 3 (2015), 241–259. https://doi.org/10.1111/jcc4.12107Google ScholarDigital Library
Recommendations
Cyborgs, Human Augmentation, Cybernetics, and JIZAI Body
AHs '22: Proceedings of the Augmented Humans International Conference 2022We propose a concept called “JIZAI Body” that allows each person to live the way they wish to live in society. One who acquires a JIZAI Body can (simultaneously) control (or delegate control) of their natural body and extensions of it, both in physical ...
Remote Treatment System of Phantom Limb Pain by Displaying Body Movement in Shared VR Space
AHs '20: Proceedings of the Augmented Humans International ConferenceThe phenomenon that amputees feel pain at the position of their lost limb is called phantom limb pain. Although the cause of phantom limb pain has not yet been medically elucidated, several hypotheses have been established from past studies, and some ...
Shared walk environment using locomotion interfaces
CSCW '00: Proceedings of the 2000 ACM conference on Computer supported cooperative workBy sharing data regarding the sensations experienced by individuals, as well as by sharing their knowledge, we are readily able to communicate with each other, and there are possibilities to further evolve this communication method. The different ...
Comments