DataSheet1_Embodiment and Performance in the Supernumerary Hand Illusion in Augmented Reality.PDF

In teleoperations, robots are generally used because related tasks are too dangerous, uncomfortable or impossible for humans to perform. When using augmented reality to control robotic limbs in such teleoperations, it is essential to understand how these extra virtual limbs are experienced. In particular, the relationship between the embodiment experience of the user and relevant outcomes such as task performance must be examined. In this article, we study the relationship between experienced embodiment of a supernumerary virtual arm that acts alongside a user’s two real arms, and their task performance in augmented reality. Specifically, we compare how well users can trace a virtual half ring placed just outside of personal space using their virtual arm in a condition where there is expected to be low embodiment (a floating disconnected hand) and a condition where there is expected to be high embodiment (a connected arm and hand). Embodiment is measured quantitatively through skin conductance response and qualitatively through ownership, agency, and self-location questionnaires. Performance is measured in terms of tracing precision. The results show positive correlations between subjective ownership and agency, and agency and performance, but no correlation between subjective or objective ownership and performance. Also, ownership ratings were low overall, while the agency ratings were significantly higher for the disconnected hand condition than the connected arm condition, as was performance. Notably, the presence of the virtual arm evoked incorrect expectations of the movement capabilities of the arm, which may have contributed to an overall preference for the unrealistic disconnected hand over the more realistic connected arm in this particular task. Our results imply that methods to increase performance in various teleoperations can indeed be found in the experience of embodiment: not necessarily directly through ownership, but through ownership mediated by agency.

在远程操作领域，机器人通常被采用，因为与之相关的任务对人类来说过于危险、不舒适或无法完成。在利用增强现实技术控制远程操作中的机器人肢体时，理解这些额外的虚拟肢体如何被体验至关重要。特别是，用户对于具身体验与相关结果，如任务表现之间的关系必须得到考察。在本文中，我们研究了用户对于与自身两只真实手臂并肩行动的额外虚拟手臂的具身体验，以及他们在增强现实环境中的任务表现之间的关系。具体而言，我们比较了用户在使用虚拟手臂在预期具身程度较低（漂浮的断开的手）和预期具身程度较高（连接的臂和手）的条件下，追踪放置在个人空间之外的虚拟半环的能力。具身体验通过皮肤电导反应进行定量测量，通过拥有感、代理感和自我定位问卷进行定性测量。表现通过追踪精度进行测量。结果显示，主观拥有感和代理感之间存在正相关，代理感和表现之间也存在正相关，但主观或客观的拥有感与表现之间没有相关性。此外，总体而言，拥有感评分较低，而代理感评分在断开手条件下显著高于连接臂条件，表现也是如此。值得注意的是，虚拟手臂的存在引发了关于手臂运动能力的错误预期，这可能是用户总体上更偏好这种不真实的断开手而非更真实的连接臂的原因。我们的结果表明，在提高各种远程操作表现的方法中，确实可以在具身体验中找到：不一定是通过直接的拥有感，而是通过由代理感介导的拥有感。