Robotically Enhanced Rubber Hand Illusion
Robotically Enhanced Rubber Hand Illusion
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DOI：
10.1109/toh.2014.2304722
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发表时间：
2014-10-01
影响因子：
2.9
通讯作者：
Sakaguchi, Masamichi
中科院分区：
文献类型：
--
作者：
Arata, Jumpei;Hattori, Masashi;Sakaguchi, Masamichi
橡胶手错觉是一种著名的多感官错觉。简而言之，当看到一只橡胶手被画笔抚摸，同时自己看不见的手也被同步抚摸时，会导致橡胶手归因于自己的身体，并“感觉这是我的手”。橡胶手错觉被认为是由受试者的手和假手的同步触觉刺激触发的。为了扩展传统的橡胶手错觉，我们引入了主从远程操纵器形式的机器人技术。所开发的单自由度主从系统由一个配备光学编码器的外骨骼主机组成，该编码器戴在受试者的食指上，而橡胶手上有一个电机驱动的食指，这使得受试者可以进行单侧遥控操作。过去，几位研究人员已经通过在受试者的身体和假肢之间建立机械连接的装置来研究移动的橡胶手错觉。机器人仪器让我们能够在较少的约束下研究移动的橡胶手错觉，从而表现得更接近经典的橡胶手错觉。此外，可以精确操纵身体和假肢之间的时间延迟。实验结果表明，机器人仪器显着增强了橡胶手的错觉。时延与多感觉错觉的效果显着相关，时延超过100ms时效果显着下降。这些发现可能有助于神经科学领域的神经机制和机器人领域的主从系统的研究。
The rubber hand illusion is a well-known multisensory illusion. In brief, watching a rubber hand being stroked by a paintbrush while one's own unseen hand is synchronously stroked causes the rubber hand to be attributed to one's own body and to "feel like it's my hand." The rubber hand illusion is thought to be triggered by the synchronized tactile stimulation of both the subject's hand and the fake hand. To extend the conventional rubber hand illusion, we introduce robotic technology in the form of a master-slave telemanipulator. The developed one degree-of-freedom master-slave system consists of an exoskeleton master equipped with an optical encoder that is worn on the subject's index finger and a motor-actuated index finger on the rubber hand, which allows the subject to perform unilateral telemanipulation. The moving rubber hand illusion has been studied by several researchers in the past with mechanically connected rigs between the subject's body and the fake limb. The robotic instruments let us investigate the moving rubber hand illusion with less constraints, thus behaving closer to the classic rubber hand illusion. In addition, the temporal delay between the body and the fake limb can be precisely manipulated. The experimental results revealed that the robotic instruments significantly enhance the rubber hand illusion. The time delay is significantly correlated with the effect of the multisensory illusion, and the effect significantly decreased at time delays over 100 ms. These findings can potentially contribute to the investigations of neural mechanisms in the field of neuroscience and of master-slave systems in the field of robotics.