Operability study on the multisensory illusion inducible in microsurgical robotic systems

Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Kazuo Kiguchi, Makoto Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The Rubber Hand Illusion is a well known multisensory illusion in which the participant feels their own unseen hand become a rubber hand that is placed at the position where their hand is supposedly placed, triggered by synchronized haptic stimuli on their hand and the rubber hand. Our previous study showed that a robotized 1-degree-of-freedom rubber hand in the form of a master-slave system significantly enhanced the illusion compared with the classic rubber hand illusion. The illusion gives the sense that the part of body becomes part of the robot - it is thus assumed that this multisensory illusion is a potentially effective way to increase intuitiveness, and therefore increase the operability of a multi-degrees-of-freedom master-slave system. To further investigate the concept, we built a multisensory illusion inducible microsurgical robotic system based on the findings of the previous study and conducted a series of psychophysical experiments. The experimental results reveal that the multisensory illusion and operability is significantly correlated.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages579-584
Number of pages6
Volume2015-December
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Arata, J., Hattori, M., Sakaguchi, M., Nakadate, R., Oguri, S., Kiguchi, K., & Hashizume, M. (2015). Operability study on the multisensory illusion inducible in microsurgical robotic systems. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 579-584). [7353430] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353430