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Related Experiment Video

Updated: Apr 19, 2026

Creating Virtual-hand and Virtual-face Illusions to Investigate Self-representation
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Robotically enhanced rubber hand illusion.

Jumpei Arata, Masashi Hattori, Shohei Ichikawa

    IEEE Transactions on Haptics
    |December 23, 2014
    PubMed
    Summary

    Researchers used a robotic master-slave system to enhance the rubber hand illusion. They found that precise control over temporal delay significantly boosted the multisensory illusion, with effects diminishing after 100 ms.

    Area of Science:

    • Neuroscience
    • Robotics
    • Human-Computer Interaction

    Background:

    • The rubber hand illusion (RHI) is a multisensory illusion where a fake hand is perceived as one's own.
    • Synchronous tactile stimulation of the subject's hand and the rubber hand is believed to trigger the RHI.
    • Previous studies on moving RHI often used mechanically constrained systems.

    Purpose of the Study:

    • To investigate the moving rubber hand illusion using a novel robotic master-slave telemanipulator.
    • To explore the impact of precise temporal delay manipulation on the RHI.
    • To reduce constraints associated with traditional RHI setups.

    Main Methods:

    • Developed a one-degree-of-freedom master-slave robotic system with an exoskeleton master and a motor-actuated rubber hand.

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  • Enabled unilateral telemanipulation with precise control over temporal delay between the subject's finger and the rubber hand.
  • Quantified the enhancement of the rubber hand illusion under varying temporal delays.

    • Main Results:

    • Robotic instruments significantly enhanced the rubber hand illusion.
    • A significant correlation was found between temporal delay and the strength of the multisensory illusion.
    • The illusion's effect significantly decreased at time delays exceeding 100 ms.

    Conclusions:

    • Robotic systems offer a less constrained approach to studying the moving rubber hand illusion.
    • Temporal delay is a critical factor influencing the rubber hand illusion.
    • Findings contribute to understanding neural mechanisms of multisensory integration and advancements in master-slave robotics.