The Sense of Agency, Sense of Body Ownership with a Semi-autonomous Telexistence Robot under Shared / Unshared Intention Conditions

Abstract

With the increasing popularity of robots such as teleoperated semi-autonomous robots, sense of agency (SoA) and sense of body ownership (SoBO) with semi-autonomous robots is becoming increasingly important. This study investigates the changes in the SoA and SoBO when the user control weight of the robot is altered in human-robot collaboration. Through an experiment, we compared the SoA and SoBO in a pick-and-place task using a robotic arm under the conditions in which the autonomous robotic arm shared and unshared the target with the participant. The results showed that the SoA and the SoBO increased with the increase of user control weight. However, the user control weight of 75% achieved a slightly higher SoA than that of 100%.