Users’ Body Experience and Human-Machine Interfaces in (Assistive) Robotics
Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
Final Report Abstract
The scientific network „Users’ Body Experience and Human-Machine Interfaces in (Assistive) Robotics” dealt with the body experience of individuals using assistive robots or other body/user-proximal robotic devices. The objectives of the scientific network were to explore the technical potential of improving experience by appropriate human-robot interfaces and robot designs. Therefore, the participants jointly analyzed and discussed measures to assess experience and consider it in novel design methods. This included the identification of promising perceptual channels as well as the preparation of foot- and hand-robots for the experimental investigation of rubber limb illusions and interface designs. From a technical perspective, highdensity human-machine interfaces that include haptic feedback for bidirectional information exchange were identified to be very promising. It turned out that tactile stimuli might not only be used to give functional information, but may also involve components such as affective or social touch to holistically render the aspects of human body experience. Currently, no organizational structure covers the range of aspects considered in this scientific network. Besides closing this gap, the participants reviewed the importance of touch for assistive device embodiment in a joint publication. The network pathed the way for further joint research and follow-up projects, which will be continued and elaborated in the future.
Publications
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“Multichannel electrotactile feedback for simultaneous and proportional myoelectric control,” Journal of neural engineering, vol. 13, no. 5, 2016
G.K. Patel, S. Dosen, C. Castellini, D. Farina
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(2017). A Human–robot interaction Perspective on Assistive and rehabilitation robotics. Frontiers in neurorobotics, 11, 24
Beckerle, P., Salvietti, G., Unal, R., Prattichizzo, D., Rossi, S., Castellini, C., Hirche, S., Endo, S., Ciocarlie, M., Mastrogiovanni, F., Argall, B. D., & Bianchi, M.
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(2017). Contextdependent adaptation improves robustness of myoelectric control for upper-limb prostheses. Journal of neural engineering, 14(5), 056016
Patel, G. K., Hahne, J. M., Castellini, C., Farina, D., & Dosen, S.
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(2017). When less is more–implicit preference for incomplete bodies in xenomelia. Journal of psychiatric research, 84, 249-255
Macauda, G., Bekrater-Bodmann, R., Brugger, P., & Lenggenhager, B.
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(2018). Design of a wearable robotic hand to investigate multisensory illusions and the bodily self of humans. In ISR 2018; 50th International Symposium on Robotics (pp. 1-6). VDE
Huynh, V., Scherf, A., Bittner, A., Saetta, G., Lenggenhager, B., & Beckerle, P.
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(2018). Feel-good robotics: requirements on touch for embodiment in assistive robotics. Frontiers in neurorobotics, 12
Beckerle, P., Kõiva, R., Kirchner, E. A., Bekrater-Bodmann, R., Dosen, S., Christ, O., Abbink, D. A., Castellini C., & Lenggenhager, B.
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(2018). Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study. Advanced Robotics, 32(12), 670-680
Beckerle, P., Bianchi, M., Castellini, C., & Salvietti, G.
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(2018). Robotic interfaces for cognitive psychology and embodiment research: A research roadmap. Wiley Interdisciplinary Reviews: Cognitive Science, e1486
Beckerle, P., Castellini, C., & Lenggenhager, B.
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(2019). Can wearable haptic devices foster the embodiment of virtual limbs?. IEEE transactions on haptics
Fröhner, J., Salvietti, G., Beckerle, P., & Prattichizzo, D.
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(2019). Robotic hand illusion with tactile feedback: Unravelling the relative contribution of visuotactile and visuomotor input to the representation of body parts in space. PloS one, 14(1), e0210058
Huynh, T. V., Bekrater-Bodmann, R., Fröhner, J., Vogt, J., & Beckerle, P.
