Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators.
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ABSTRACT:
SUBMITTER: Alimardani M
PROVIDER: S-EPMC3738936 | biostudies-other | 2013
REPOSITORIES: biostudies-other
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Project description:We investigate two issues about the subjective experience of one's body: first, is the experience of owning a full-body fundamentally different from the experience of owning a body-part?Second, when I experience a bodily sensation, does it guarantee that I cannot be wrong about whether it is me who feels it? To address these issues, we conducted a series of experiments that combined the rubber hand illusion (RHI) and the "body swap illusion." The subject wore a head mounted display (HMD) connected with a stereo camera set on the experimenter's head. Sitting face to face, they used their right hand holding a paintbrush to brush each other's left hand. Through the HMD, the subject adopted the experimenter's first-person perspective (1PP) as if it was his/her own 1PP: the subject watched either the experimenter's hand from the adopted 1PP, and/or the subject's own hand from the adopted third-person perspective (3PP) in the opposite direction (180°), or the subject's full body from the adopted 3PP (180°, with or without face). The synchronous full-body conditions generate a "self-touching illusion": many participants felt that "I was brushing my own hand!" We found that (1) the sense of body-part ownership and the sense of full-body ownership are not fundamentally different from each other; and (2) our data present a strong case against the mainstream philosophical view called the immunity principle (IEM). We argue that it is possible for misrepresentation to occur in the subject's sense of "experiential ownership" (the sense that I am the one who is having this bodily experience). We discuss these findings and conclude that not only the sense of body ownership but also the sense of experiential ownership call for further interdisciplinary studies.
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Project description:Recent studies of the rubber hand illusion (RHI) have shown that the sense of body ownership is constrained by several factors and yet is still very flexible. However, exactly how flexible is our sense of body ownership? In this study, we address this issue by investigating the following question: is it possible that one may have the illusory experience of owning four hands? Under visual manipulation, the participant adopted the experimenter's first-person perspective (1PP) as if it was his/her own. Sitting face to face, the participant saw four hands-the experimenter's two hands from the adopted 1PP together with the subject's own two hands from the adopted third-person perspective (3PP). We found that: (1) the four-hand illusion did not occur in the passive four-hand condition. (2) In the active four-hand condition, the participants tapped their index fingers, imitated by the experimenter. When tactile stimulations were not provided, the key illusion was not induced, either. (3) Strikingly, once all four hands began to act with the same pattern and received synchronous tactile stimulations at the same time, many participants felt as if they had two more hands. These results show that the sense of body ownership is much more flexible than most researchers have suggested.
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Project description:The question of how we attribute observed body parts as our own, and the consequences of this attribution on our sensory-motor processes, is fundamental to understand how our brain distinguishes between self and other. Previous studies have identified interactions between the illusion of ownership, and multi-sensory integration and cross-sensory predictions by the brain. Here we show that illusory ownership additionally modifies the motor-sensory predictions by the brain. In our preliminary experiments, we observed a new numbness illusion following the classical rubber-hand illusion (RHI); brushing only the rubber hand after induction of the RHI results in illusory numbness in one's real hand. Previous studies have shown that self-generated actions (like tickling) are attenuated by motor-sensory predictions by the so-called forward model. Motivated by this finding, here we examined whether the numbness illusion after the RHI is different when the rubber hand is brushed oneself, compared with when the brushing is performed by another. We observed that, all other conditions remaining the same, haptic perception in the real hand was lower (numbness higher) during self-generated brushing. Our result suggests that RHI reorganizes the forward model, such that we predict haptic consequences of self-generated motor actions on the rubber hand.
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Project description:Manipulating sensory and motor cues can cause an illusionary perception of ownership of a fake body part. Presumably, the illusion can work as long as the false body part's position and appearance are anatomically plausible. Here, we introduce an illusion that challenges past assumptions on body ownership. We used virtual reality to switch and mirror participants' views of their hands. When a participant moves their physical hand, they see the incongruent virtual hand moving. The result is an anatomically implausible configuration of the fake hand. Despite the hand switch, participants reported significant body ownership sensations over the virtual hands. In the first between-group experiment, we found that the strength of body ownership over the incongruent hands was similar to that of congruent hands. Whereas, in the second within-group experiment, anatomical incongruency significantly decreased body ownership. Still, participants reported significant body ownership sensations of the switched hands. Curiously, we found that perceived levels of agency mediate the effect of anatomical congruency on body ownership. These findings offer a fresh perspective on the relationship between anatomical plausibility and assumed body ownership. We propose that goal-directed and purposeful actions can override anatomical plausibility constraints and discuss this in the context of the immersive properties of virtual reality.
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Project description:Researchers investigating virtual/augmented reality have shown humans' marked adaptability, especially regarding our sense of body ownership; their cumulative findings have expanded the concept of what it means to have a body. Herein, we report the hand ownership illusion during "two views merged in." In our experiment, participants were presented two first-person perspective views of their arm overlapped, one was the live feed from a camera and the other was a playback video of the same situation, slightly shifted toward one side. The relative visibility of these two views and synchrony of tactile stimulation were manipulated. Participants' level of embodiment was evaluated using a questionnaire and proprioceptive drift. The results show that the likelihood of embodying the virtual hand is affected by the relative visibility of the two views and synchrony of the tactile events. We observed especially strong hand ownership of the virtual hand in the context of high virtual hand visibility with synchronous tactile stimulation.
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Project description:This paper presents an adaptive actuation mechanism that can be employed for the development of anthropomorphic, dexterous robot hands. The tendon-driven actuation mechanism achieves both flexion/extension and adduction/abduction on the finger's metacarpophalangeal joint using two actuators. Moment arm pulleys are employed to drive the tendon laterally and achieve a simultaneous execution of abduction and flexion motion. Particular emphasis has been given to the modeling and analysis of the actuation mechanism. More specifically, the analysis determines specific values for the design parameters for desired abduction angles. Also, a model for spatial motion is provided that relates the actuation modes with the finger motions. A static balance analysis is performed for the computation of the tendon force at each joint. A model is employed for the computation of the stiffness of the rotational flexure joints. The proposed mechanism has been designed and fabricated with the hybrid deposition manufacturing technique. The efficiency of the mechanism has been validated with experiments that include the assessment of the role of friction, the computation of the reachable workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the evaluation of the grasping and manipulation capabilities. An anthropomorphic robot hand equipped with the proposed actuation mechanism was also fabricated to evaluate its performance. The proposed mechanism facilitates the collaboration of actuators to increase the exerted forces, improving hand dexterity and allowing the execution of dexterous manipulation tasks.
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Project description:In various experimental settings, electromyography (EMG) signals have been used to control robots. EMG-based robot control requires intrinsic parameters for control, which makes it difficult for users to understand the input protocol. When a proper input is not provided, the response time of the system varies; as such, the user's subjective delay should be investigated regardless of the actual delay. In this study, we investigated the influence of the subjective perception of delay on brain activation. Brain recordings were taken while subjects used EMG signals to control a robot hand, which requires a basic processing delay. We used muscle synergy for the grip command of the robot hand. After controlling the robot by grasping their hand, one of four additional delay durations (0 ms, 50 ms, 125 ms, and 250 ms) was applied in every trial, and subjects were instructed to answer whether the delay was natural, additional, or whether they were not sure. We compared brain activity based on responses ("sure" and "not sure"). Our results revealed a significant power difference in the theta band of the parietal lobe, and this time range included the interval in which the subjects could not feel the delay. Our study provides important insights that should be considered when constructing an adaptive system and evaluating its usability.
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Project description:Illusory body ownership can be induced in a body part or a full body by visual-motor synchronisation. A previous study indicated that an invisible full body illusion can be induced by the synchronous movement of only the hands and feet. The difference between body part ownership and the full body illusion has not been explained in detail because there is no method for separating these two illusions. To develop a method to do so, we scrambled or randomised the positions of the hands and feet and compared it with the normal layout stimulus by manipulating visual-motor synchronisation. In Experiment 1, participants observed the stimuli from a third-person perspective, and the questionnaire results showed that the scrambled body stimulus induced only body part ownership, while the normal layout stimulus induced both body part ownership and full body ownership when the stimuli were synchronous with participants' actions. In Experiment 2, we found similar results as with the first-person perspective stimuli in a questionnaire. We did not find significant skin conductance response difference between any conditions in either Experiment 2 or 3. These results suggest that a spatial relationship is necessary for the full body illusion, but not for body part ownership.
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Project description:Some people report localised pain on their body when seeing other people in pain (sensory-localised vicarious pain responders). In this study, we assess whether this is related to atypical computations of body ownership which, in paradigms such as the rubber hand illusion (RHI), can be conceptualised as a Bayesian inference as to whether multiple sources of sensory information (visual, somatosensory) belong together on a single body (one's own) or are distributed across several bodies (vision = other, somatosensory = self). According to this model, computations of body ownership depend on the degree (and precision) of sensory evidence, rather than synchrony per se. Sensory-localised vicarious pain responders exhibit the RHI following synchronous stroking and-unusually-also after asynchronous stroking. Importantly, this occurs only in asynchronous conditions in which the stroking is predictable (alternating) rather than unpredictable (random). There was no evidence that their bottom-up proprioceptive signals are less precise, suggesting individual differences in the top-down weighting of sensory evidence. Finally, the enfacement illusion (EI) was also employed as a conceptually related bodily illusion paradigm that involves a completely different response judgement (based on vision rather than proprioception). Sensory-localised responders show a comparable pattern on this task after synchronous and asynchronous stroking. This is consistent with the idea that they have top-down (prior) differences in the way body ownership is inferred that transcends the exact judgement being made (visual or proprioceptive).
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