Maintaining the Sense of Agency in Semi-Autonomous Robot Conferencing

Kazuaki Tanaka, Kota Takenouchi, Kohei Ogawa, Yuichiro Yoshikawa, Shuichi Nishio and Hiroshi Ishiguro
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Kazuaki Tanaka: Information and Human Sciences, Kyoto Institute of Technology, Kyoto 606-8585, Japan
Kota Takenouchi: Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan
Kohei Ogawa: Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan
Yuichiro Yoshikawa: Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan
Shuichi Nishio: Institute for Open and Transdisciplinary Research Initiatives, Osaka University, Osaka 560-8531, Japan
Hiroshi Ishiguro: Graduate School of Engineering Science, Osaka University, Osaka 560-8531, Japan

Future Internet, 2019, vol. 11, issue 7, 1-17

Abstract: In semi-autonomous robot conferencing, not only the operator controls the robot, but the robot itself also moves autonomously. Thus, it can modify the operator’s movement (e.g., adding social behaviors). However, the sense of agency, that is, the degree of feeling that the movement of the robot is the operator’s own movement, would decrease if the operator is conscious of the discrepancy between the teleoperation and autonomous behavior. In this study, we developed an interface to control the robot head by using an eye tracker. When the robot autonomously moves its eye-gaze position, the interface guides the operator’s eye movement towards this autonomous movement. The experiment showed that our interface can maintain the sense of agency, because it provided the illusion that the autonomous behavior of a robot is directed by the operator’s eye movement. This study reports the conditions of how to provide this illusion in semi-autonomous robot conferencing.

Keywords: semi-autonomous; teleoperation; telepresence; robot; sense of agency; eye tracking (search for similar items in EconPapers)
JEL-codes: O3 (search for similar items in EconPapers)
Date: 2019
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