Robotic Hand Experience

Augmenting rubber hand illusion paradigms extends experimental possibilities and can disentangle human action-perception loops. This chapter presents technical and experimental merits with a focus on tactile feedback and the influence of delays. A pilot study proofs the applicability of the RobHI setup with tactile feedback. Additionally, two extensive experiments analyze the interplay of visuotactile and visuomotor feedback to unravel their contributions to spatial body representation. Both vary motor and tactile feedback availability and delays while measuring the spatial calibration of body coordinates and subjective embodiment experience. The results indicate that both feedback types contribute similarly to embodiment and, interestingly, show that synchronous feedback in one factor can even compensate for asynchronous information from the other. These fundamental insights on multisensory enhancing effects confirm human-in-the-loop experiment potentials.

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