The Critical Role of Self-Contact for Embodiment in Virtual Reality

Bovet, Sidney; Debarba, Henrique Galvan; Herbelin, Bruno; Molla, Eray; Boulic, Ronan

doi:10.1109/tvcg.2018.2794658

Cited by 54 publications

(36 citation statements)

References 34 publications

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“…A correct representation of self-contact appears to support a strong sense of embodying an avatar during immersion in VR (Bovet et al, 2018). Another study found a significant shape by texture interaction: a natural skin texture increased the strength of the RHI for a hand-shaped object, but not for a nonhand-shaped object (Haans et al, 2008).…”

Section: Visual Realism (Similarity)mentioning

confidence: 91%

Toward Enhanced Teleoperation Through Embodiment

et al. 2020

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Telerobotics aims to transfer human manipulation skills and dexterity over an arbitrary distance and at an arbitrary scale to a remote workplace. A telerobotic system that is transparent enables a natural and intuitive interaction. We postulate that embodiment (with three sub-components: sense of ownership, agency, and self-location) of the robotic system leads to optimal perceptual transparency and increases task performance. However, this has not yet been investigated directly. We reason along four premises and present findings from the literature that substantiate each of them: (1) the brain can embody non-bodily objects (e.g., robotic hands), (2) embodiment can be elicited with mediated sensorimotor interaction, (3) embodiment is robust against inconsistencies between the robotic system and the operator's body, and (4) embodiment positively correlates to dexterous task performance. We use the predictive encoding theory as a framework to interpret and discuss the results reported in the literature. Numerous previous studies have shown that it is possible to induce embodiment over a wide range of virtual and real extracorporeal objects (including artificial limbs, avatars, and android robots) through mediated sensorimotor interaction. Also, embodiment can occur for non-human morphologies including for elongated arms and a tail. In accordance with the predictive encoding theory, none of the sensory modalities is critical in establishing ownership, and discrepancies in multisensory signals do not necessarily lead to loss of embodiment. However, large discrepancies in terms of multisensory synchrony or visual likeness can prohibit embodiment from occurring. The literature provides less extensive support for the link between embodiment and (dexterous) task performance. However, data gathered with prosthetic hands do indicate a positive correlation. We conclude that all four premises are supported by direct or indirect evidence in the literature, suggesting that embodiment of a remote manipulator may improve dexterous performance in telerobotics. This warrants further implementation testing of embodiment in telerobotics. We formulate a first set of guidelines to apply embodiment in telerobotics and identify some important research topics.

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Section: Visual Realism (Similarity)mentioning

confidence: 91%

Toward Enhanced Teleoperation Through Embodiment

et al. 2020

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“…Natural touch sensation would not only improve the overall experience, but could further enhance learning of simple (Bark et al, 2015) as well as complex motor behavior (Sigrist et al, 2015). This is especially true when combined with VR-based training scenarios that are currently often lacking tactile feedback as well (Weiss et al, 2006; Bovet et al, 2018).…”

Section: Applications In Assistive Roboticsmentioning

confidence: 99%

“…Moreover, this kind of touch has been shown to increase body ownership (Hara et al, 2015) and first preliminary studies have extended such scenarios to rather complex situations of self-touch (Dieguez et al, 2009; Huynh et al, 2018). Research on embodiment in VR also shows that correct self-contact is more important for the feeling of embodiment than the mapping of movements (Bovet et al, 2018). Yet, tactile feedback is often limited to the hand or body parts, which was shown to constrain the implementation of passive self-touch in VR (Bovet et al, 2018).…”

Section: Applications In Assistive Roboticsmentioning

confidence: 99%

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

et al. 2018

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The feeling of embodiment, i.e., experiencing the body as belonging to oneself and being able to integrate objects into one's bodily self-representation, is a key aspect of human self-consciousness and has been shown to importantly shape human cognition. An extension of such feelings toward robots has been argued as being crucial for assistive technologies aiming at restoring, extending, or simulating sensorimotor functions. Empirical and theoretical work illustrates the importance of sensory feedback for the feeling of embodiment and also immersion; we focus on the the perceptual level of touch and the role of tactile feedback in various assistive robotic devices. We critically review how different facets of tactile perception in humans, i.e., affective, social, and self-touch, might influence embodiment. This is particularly important as current assistive robotic devices – such as prostheses, orthoses, exoskeletons, and devices for teleoperation–often limit touch low-density and spatially constrained haptic feedback, i.e., the mere touch sensation linked to an action. Here, we analyze, discuss, and propose how and to what degree tactile feedback might increase the embodiment of certain robotic devices, e.g., prostheses, and the feeling of immersion in human-robot interaction, e.g., in teleoperation. Based on recent findings from cognitive psychology on interactive processes between touch and embodiment, we discuss technical solutions for specific applications, which might be used to enhance embodiment, and facilitate the study of how embodiment might alter human-robot interactions. We postulate that high-density and large surface sensing and stimulation are required to foster embodiment of such assistive devices.

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“…Embodiment is defined as the "subjective experience of using and 'having' a Journal of Software Engineering and Applications body" [18] [24]. This is formally defined as follows: where E is some alternative representation of a body, "E is embodied if some properties of E are processed in the same way as the properties of one's body" [24] [25]. To achieve this experience, Kilteni et al suggest three components that influence the embodiment experience [18]: sense of self-location, agency, and body ownership.…”

Section: Copresence and Embodimentmentioning

confidence: 99%

Resolutions and Network Latencies Concerning a Voxel Telepresence Experience

Park¹,

Regenbrecht²

2019

JSEA

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Recent advancements in computing research and technology will allow future immersive virtual reality systems to be voxel-based, i.e. entirely based on gap-less, spatial representations of volumetric pixels. The current popularity of pixel-based videoconferencing systems could turn into true telepresence experiences that are voxel-based. Richer, non-verbal communication will be possible thanks to the three-dimensional nature of such systems. An effective telepresence experience is based on the users' sense of copresence with others in the virtual environment and on a sense of embodiment. We investigate two main quality of service factors, namely voxel size and network latency, to identify acceptable threshold values for maintaining the copresence and embodiment experience. We present a working prototype implementation of a voxel-based telepresence system and can show that even a coarse 64 mm voxel size and an overall round-trip latency of 542 ms are sufficient to maintain copresence and embodiment experiences. We provide threshold values for noticeable, disruptive, and unbearable latencies that can serve as guidelines for future voxel and other telepresence systems.

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The Critical Role of Self-Contact for Embodiment in Virtual Reality

Cited by 54 publications

References 34 publications

Toward Enhanced Teleoperation Through Embodiment

Toward Enhanced Teleoperation Through Embodiment

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics

Resolutions and Network Latencies Concerning a Voxel Telepresence Experience

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