Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics
Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics
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DOI：
10.3389/fnbot.2018.00084
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发表时间：
2018-12-11
影响因子：
3.1
通讯作者：
Lenggenhager, Bigna
中科院分区：
文献类型：
--
作者：
Beckerle, Philipp;Koiva, Risto;Lenggenhager, Bigna
体现的感觉，即，将身体体验为属于自己，并能够将物体整合到一个人的身体自我表征中，是人类自我意识的一个关键方面，并已被证明对人类认知具有重要的影响。对机器人的这种感觉的延伸被认为是旨在恢复，扩展或模拟感觉运动功能的辅助技术的关键。经验和理论工作说明了感觉反馈的重要性的体现和沉浸感，我们专注于触觉的感知水平和触觉反馈在各种辅助机器人设备中的作用。我们批判性地回顾了人类触觉感知的不同方面，即，情感的、社会的和自我的触摸，可能会影响具体化。这是特别重要的，因为当前的辅助机器人设备（诸如假肢、矫形器、外骨骼和用于远程操作的设备）通常限制触摸低密度和空间受限的触觉反馈，即，与动作相联系的纯粹触觉。在这里，我们分析，讨论，并提出如何以及在何种程度上触觉反馈可能会增加某些机器人设备的实施例，例如，假肢，以及沉浸在人机交互中的感觉，例如，远程操作基于最近的研究结果，从认知心理学触摸和实施之间的交互过程中，我们讨论了特定应用程序的技术解决方案，这可能会被用来增强实施，并促进研究如何实施可能会改变人机交互。我们假设，高密度和大的表面感应和刺激需要促进这种辅助设备的实施例。
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.