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Auditory Feedback for Enhanced Sense of Agency in Shared Control.

Tomoya Morita1, Yaonan Zhu1, Tadayoshi Aoyama1

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Summary

Auditory feedback can help maintain the sense of agency (SoA) in robot teleoperation. This study found that specific sound cues blurred the self/other distinction, improving SoA during shared control.

Keywords:
auditory feedbackrobotic teleoperationsense of agency

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Area of Science:

  • Human-Robot Interaction
  • Robotics
  • Cognitive Science

Background:

  • Remote robot control is increasingly important for various tasks.
  • Shared control in teleoperation can diminish the sense of agency (SoA), where users feel less responsible for robot actions.
  • This reduction in SoA occurs because the robot's motion is perceived as externally driven.

Purpose of the Study:

  • To investigate methods for suppressing the decline in SoA during shared robot control.
  • To explore the use of auditory feedback to enhance the user's sense of agency.
  • To blur the perceived distinction between the operator and the robot's actions.

Main Methods:

  • A tracking task was conducted in a virtual environment.
  • Four distinct auditory feedback conditions were implemented.
  • Varying levels of automation were used to manipulate a virtual robot gripper.

Main Results:

  • The proposed auditory feedback effectively suppressed the decrease in SoA.
  • This effect was most pronounced at a medium level of automation.
  • The auditory feedback appeared to blur the self/other distinction in motion perception.

Conclusions:

  • Auditory feedback can be a viable strategy to enhance SoA in teleoperated robots.
  • By blurring the self/other distinction, auditory cues can increase operator attribution of robot motion.
  • This research contributes to developing more intuitive and engaging human-robot interaction systems.