MESSPa: A Multi-modal Embodiment Stimulation Shoulder Pad for Preserving the Sense of Agency in a Detachable Robotic Arm
MESSPa: A Multi-modal Embodiment Stimulation Shoulder Pad for Preserving the Sense of Agency in a Detachable Robotic Arm
This research introduces MESSPa, a wearable shoulder pad that integrates one-to-one motion transfer with pneumatic haptic feedback to maintain an operator's sense of agency when controlling a detachable robotic arm. Controlled experiments comparing MESSPa against keyboard control show that the device significantly reduces task completion time and enhances the sense of agency in detached conditions, effectively bridging the performance gap between attached and detached states without significantly altering the sense of ownership.
The study demonstrates that combining motion transfer with spatially distributed pneumatic haptic feedback on a shoulder pad significantly improves the sense of agency and task performance for operators controlling a detached robotic arm, narrowing the performance gap between attached and detached states.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
nce tend to degrade. This paper presents the Multi-modal Embodiment Stimulation Shoulder Pad (MESSPa), a wearable interface that combines one-to-one motion transfer with spatially distributed pneumatic (balloon) haptic feedback on the shoulder, with the goal of preserving the sense of agency across attached and detached states. We describe the system design, the control mapping, and a controlled experiment using a $2
Open source S3
\times2$ mixed design that crosses the control interface between groups (MESSPa, $N=13$, vs. keyboard control, $N=12$ from our previous study) and attachment (on-shoulder/detached) within participants, under single- and dual-task loads. Compared with keyboard control in the detached condition, MESSPa significantly reduced task completion time and significantly improved the sense of agency in the detached state, while
Open source S4
narrowing the performance gap between the attached and detached conditions. The sense of ownership did not change significantly. These results indicate that combining motion transfer with positional haptic feedback is an effective way to recover agency when a robotic limb is operated remotely.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org