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Effect of External Force on Agency in Physical Human-Machine Interaction

Endo, Satoshi ; Fröhner, Jakob ; Musić, Selma ; Hirche, Sandra ; Beckerle, Philipp (2024)
Effect of External Force on Agency in Physical Human-Machine Interaction.
In: Frontiers in Human Neuroscience, 2020, 14
doi: 10.26083/tuprints-00016633
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: Effect of External Force on Agency in Physical Human-Machine Interaction
Language: English
Date: 12 March 2024
Place of Publication: Darmstadt
Year of primary publication: 8 May 2020
Place of primary publication: Lausanne
Publisher: Frontiers Media S.A.
Journal or Publication Title: Frontiers in Human Neuroscience
Volume of the journal: 14
Collation: 10 Seiten
DOI: 10.26083/tuprints-00016633
Corresponding Links:
Origin: Secondary publication DeepGreen
Abstract:

In the advent of intelligent robotic tools for physically assisting humans, user experience, and intuitiveness in particular have become important features for control designs. However, existing works predominantly focus on performance-related measures for evaluating control systems as the subjective experience of a user by large cannot be directly observed. In this study, we therefore focus on agency-related interactions between control and embodiment in the context of physical human-machine interaction. By applying an intentional binding paradigm in a virtual, machine-assisted reaching task, we evaluate how the sense of agency of able-bodied humans is modulated by assistive force characteristics of a physically coupled device. In addition to measuring how assistive force profiles influence the sense of agency with intentional binding, we analyzed the sense of agency using a questionnaire. Remarkably, our participants reported to experience stronger agency when being appropriately assisted, although they contributed less to the control task. This is substantiated by the overall consistency of intentional binding results and the self-reported sense of agency. Our results confirm the fundamental feasibility of the sense of agency to objectively evaluate the quality of human-in-the-loop control for assistive technologies. While the underlying mechanisms causing the perceptual bias observed in the intentional binding paradigm are still to be understood, we believe that this study distinctly contributes to demonstrating how the sense of agency characterizes intuitiveness of assistance in physical human-machine interaction.

Uncontrolled Keywords: human-centered control, shared control, human-robot interaction, autonomy, agency, haptics
Identification Number: Artikel-ID: 114
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-166335
Additional Information:

This article is part of the Research Topic: Embodying Tool Use: from Cognition to Neurorehabilitation

Specialty section: This article was submitted to Cognitive Neuroscience, a section of the journal Frontiers in Human Neuroscience

Classification DDC: 600 Technology, medicine, applied sciences > 610 Medicine and health
600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
600 Technology, medicine, applied sciences > 621.3 Electrical engineering, electronics
Divisions: 16 Department of Mechanical Engineering > Institute for Mechatronic Systems in Mechanical Engineering (IMS)
Date Deposited: 12 Mar 2024 12:52
Last Modified: 10 Jul 2024 14:15
SWORD Depositor: Deep Green
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/16633
PPN: 519719859
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