Effect of External Force on Agency in Physical Human-Machine Interaction

Area of Science:

• Robotics
• Human-Computer Interaction
• Cognitive Science

Background:

• User experience and intuitiveness are crucial for intelligent robotic assistance.
• Current control system evaluations often overlook subjective user experience.
• Objective measures for user experience in human-machine interaction are needed.

Purpose of the Study:

• To investigate the relationship between control, embodiment, and the sense of agency in physical human-machine interaction.
• To evaluate how assistive force characteristics influence the sense of agency.
• To determine if the sense of agency can objectively measure the intuitiveness of assistive technologies.

Main Methods:

• An intentional binding paradigm was used in a virtual, machine-assisted reaching task.
• The sense of agency was measured using both intentional binding and a post-task questionnaire.
• Assistive force profiles were systematically varied to assess their impact.

Main Results:

• Participants reported a stronger sense of agency when receiving appropriate robotic assistance.
• This effect was observed despite participants contributing less to the task.
• Results from intentional binding and questionnaires were consistent.

Conclusions:

• The sense of agency can be objectively measured to evaluate the intuitiveness of assistive technologies.
• Appropriate assistance can enhance the user's sense of agency, even with reduced personal contribution.
• This study provides a foundation for understanding agency in intuitive physical human-machine interaction.