Auditory Feedback for Enhanced Sense of Agency in Shared Control

Morita, Tomoya; Zhu, Yaonan; Aoyama, Tadayoshi; Takeuchi, Masaru; Yamamoto, Kento; Hasegawa, Yasuhisa

doi:10.3390/s22249779

Open AccessArticle

Auditory Feedback for Enhanced Sense of Agency in Shared Control

by

Tomoya Morita

^*

,

Yaonan Zhu

,

Tadayoshi Aoyama

,

Masaru Takeuchi

,

Kento Yamamoto

and

Yasuhisa Hasegawa

Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 464-8601, Japan

^*

Author to whom correspondence should be addressed.

Sensors 2022, 22(24), 9779; https://doi.org/10.3390/s22249779

Submission received: 13 October 2022 / Revised: 1 December 2022 / Accepted: 10 December 2022 / Published: 13 December 2022

(This article belongs to the Collection Advances in Human-Robot Interaction: Sensing, Cognition and Control)

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Abstract

There is a growing need for robots that can be remotely controlled to perform tasks of one’s own choice. However, the SoA (Sense of Agency: the sense of recognizing that the motion of an observed object is caused by oneself) is reduced because the subject of the robot motion is identified as external due to shared control. To address this issue, we aimed to suppress the decline in SoA by presenting auditory feedback that aims to blur the distinction between self and others. We performed the tracking task in a virtual environment under four different auditory feedback conditions, with varying levels of automation to manipulate the virtual robot gripper. Experimental results showed that the proposed auditory feedback suppressed the decrease in the SoA at a medium level of automation. It is suggested that our proposed auditory feedback could blur the distinction between self and others, and that the operator attributes the subject of the motion of the manipulated object to himself.

Keywords: robotic teleoperation; sense of agency; auditory feedback

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MDPI and ACS Style

Morita, T.; Zhu, Y.; Aoyama, T.; Takeuchi, M.; Yamamoto, K.; Hasegawa, Y. Auditory Feedback for Enhanced Sense of Agency in Shared Control. Sensors 2022, 22, 9779. https://doi.org/10.3390/s22249779

AMA Style

Morita T, Zhu Y, Aoyama T, Takeuchi M, Yamamoto K, Hasegawa Y. Auditory Feedback for Enhanced Sense of Agency in Shared Control. Sensors. 2022; 22(24):9779. https://doi.org/10.3390/s22249779

Chicago/Turabian Style

Morita, Tomoya, Yaonan Zhu, Tadayoshi Aoyama, Masaru Takeuchi, Kento Yamamoto, and Yasuhisa Hasegawa. 2022. "Auditory Feedback for Enhanced Sense of Agency in Shared Control" Sensors 22, no. 24: 9779. https://doi.org/10.3390/s22249779

APA Style

Morita, T., Zhu, Y., Aoyama, T., Takeuchi, M., Yamamoto, K., & Hasegawa, Y. (2022). Auditory Feedback for Enhanced Sense of Agency in Shared Control. Sensors, 22(24), 9779. https://doi.org/10.3390/s22249779

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Auditory Feedback for Enhanced Sense of Agency in Shared Control

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