文章基本信息

标题：An embodiment paradigm in evaluation of human-in-the-loop control
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作者：Jakob Fröhner ; Philipp Beckerle ; Satoshi Endo 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：51
期号：34
页码：104-109
DOI：10.1016/j.ifacol.2019.01.036
语种：English
出版社：Elsevier
摘要：AbstractThis study introduces a novel approach for evaluating the quality of human-in-the-loop control using the psychological construct of embodiment in a haptic human-machine interaction task. Despite the fact that various forms of assistive control have been introduced, these methods mainly design semi-autonomous control to improve task-specific interaction performance. From a user perspective, however, the introduction of semi-autonomous control reduces controllability of the system, which could lead to negative user experience. Psychological research suggests sensory-motor factors dynamically modulate cognition of an external entity belonging to one’s own body, i.e., embodiment. In our paradigm, we apply methods for evaluating embodiment in a virtual reality (VR) environment where the human users perform a reaching task with semi-autonomous haptic assistance to measure the degree to which the embodiment is effected by the quality of semi-autonomy Our results with 8 participants show good persistence of subjective embodiment and subcomponents of presence within VR environment when a predictable assistive control is introduced while unpredictable assistance hindered the subjective embodiment. Results indicate embodiment can be exploited as a quantitative evaluation method of semi-autonomous controllers from a user-centric perspective.
关键词：KeywordsEmbodimentShared-controlHuman-in-the-loop control