Sense of Embodiment Supports Motor Learning and Adaptation in Tele-robotics

Abstract

In this paper, we transition from the theoretical and experimental groundwork of manipulating and measuring Sense of Embodiment (SoE) to addressing a fundamental question: What is the purpose of optimizing the SoE in a teleoperation system? This exploration centers on investigating the potential positive effects of SoE on motor adaptation, the acceleration of motor learning, and the potential enhancement of task performance. The paper delves into this investigation by focusing on two critical research questions: 1) what is the effect of SoE on task performance in a perceptual-motor task? 2) What is the effect of SoE on the asymptote of the learning curve in a perceptual-motor task? Drawing insights from the existing literature, the hypothesis emerges that enhancing SoE yields positive effects, not only on task performance (H1) but also on the overall embodiment experience (H2). An additional layer of exploration is introduced through an exploratory research question: Are these results consistent across diverse scenarios and tasks? The study design encompasses two distinct user studies, each set in different applications and featuring various avatars, yet all anchored in similar tasks, specifically a modified peg-in-hole task: 1) in the first experiment, participants operated a robotic arm with a human-like hand as end-effector, and they were required to perform a classic peg-in-hole task; 2) in user study 2, the task is transformed into a variation that we called “peg-on-button”, wherein participants use a robotic arm with a gripper as the end-effector to press a lit button. In both studies, a consistent pattern emerges: a setup that fosters embodiment has a positive impact on motor learning and adaptation, resulting in improved task performance. A supportive setup also reduces the perception of the surrogate as a mere mediator between the operator and the remote environment, especially when contrasted with a setup that suppresses embodiment. The positive effects on motor learning and task performance advocate for the incorporation of embodiment-supportive designs in teleoperational setups. However, the nuanced relationship between SoE and long-term task performance prompts a call for further exploration and consideration of various factors influencing teleoperation outcomes across diverse scenarios and tasks.