让机器人随用户呼吸同步，增强操控时的身心一体感。
Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots
- 用实时同步用户呼吸来增强机器人操控中的身体归属感。
- 同步组身体归属感评分显著更高，多数人更偏好此模式。
- 为远程操控、假肢和人机协作提供新思路，适合关注沉浸体验的研究者。
用户在人机交互中通过遥控或远程操作机器人时，若视觉与运动反馈保持同步，可增强身体归属感与控制感。本文探索将用户自身呼吸信号实时映射至机器人，形成‘共呼吸’机制，以提升沉浸式体验。在一项被试内实验中，参与者操控机械臂时，其动作与自身呼吸同步或不同步。结果显示，同步条件下的身体归属感显著增强，且多数参与者更偏好该方式。研究提出将生理信号作为新型内感受通道，拓展了人机交互中身体感知的新路径，对远程操控、假肢设计、人机协同及共享自主系统具有重要意义。
原文摘要 · Abstract (English)
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency, contributing to the experience of embodiment. We extend this work by employing embreathment, the representation of the user's own breath in real time, as a means for enhancing user embodiment experience in robots. In a within-subjects experiment, participants controlled a robotic arm, while its movements were either synchronized or non-synchronized with their own breath. Synchrony was shown to significantly increase body ownership, and was preferred by most participants. We propose the representation of physiological signals as a novel interoceptive pathway for human-robot interaction, and discuss implications for telepresence, prosthetics, collaboration with robots, and shared autonomy.
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