Neural Correlates of Training-Induced Embodiment in Telepresence Robot Operators
Presented During: Poster Session 3
Friday, June 27, 2025: 01:45 PM - 03:45 PM
Friday, June 27, 2025: 01:45 PM - 03:45 PM
Presented During: Poster Session 4
Saturday, June 28, 2025: 01:45 PM - 03:45 PM
Saturday, June 28, 2025: 01:45 PM - 03:45 PM
Poster No:
2003
Submission Type:
Abstract Submission
Authors:
Naohiro Kojima1, Yurina Mizumachi2, Ryogo Kawamata2, Katsuki Higo3, Sotaro Shimada4
Institutions:
1School of Science and Technology, Meiji University, Kawasaki-shi, Kanagawa, 2Graduate School of Science and Technology, Meiji University, Kawasaki-shi, Kanagawa, 3Organization for the Strategic Coordination of Research and Intellectual Properties, Meiji Univ., Kawasaki-shi, Kanagawa, 4School of Science and Technology, Meiji University, Kawasaki, Kanagawa
First Author:
Co-Author(s):
Katsuki Higo
Organization for the Strategic Coordination of Research and Intellectual Properties, Meiji Univ.
Kawasaki-shi, Kanagawa
Organization for the Strategic Coordination of Research and Intellectual Properties, Meiji Univ.
Kawasaki-shi, Kanagawa
Introduction:
Telepresence robots enable remote communication, providing users with a sense of being there in a distant environment (Tachi, 2019). For example, in Avatar robot café "DAWN" in Japan, individuals with disabilities use the telepresence robot "OriHime" for customer service (OryLab Inc., 2021). Then, when using a telepresence robot for communication, do users experience the sense of embodiment to the robot? Previous studies have demonstrated that when a participant illusory experienced a sense of embodiment with an external object, a change occurred to the object backwardly affects the participant, a phenomenon called 'back-projection'. For example, when the fingers of a rubber hand, in which the participant feels a sense of embodiment, are suddenly moved, the participant's fingers also move with the brain activity in the motor area (Shibuya et al. 2019). To investigate the sense of embodiment of telepresence robots, we examined whether back-projection occurs when viewing the robot in motion. In the experiment, we compared a group that trained a cafe service using a telepresence robot (manipulation group: MG) with a group that trained without operating the robots (control group: CG). We hypothesized that the MG, but not CG, would experience embodiment of the robot, leading to the occurrence of back-projection.
Methods:
A total of 36 healthy students (9 females, mean age 21 ± 1.27 years) participated in the study and randomly assigned to either MG (n=18) and CG (n=18). We used the telepresence robot OriHime in the experiment over a period of four days. On Day 1 (pre-training) and Day 4 (post-training), the sense of embodiment was assessed using questionnaires and brain activity measurements using functional near-infrared spectroscopy (fNIRS) while the participants watched a video of the robot in motion. On Days 2 and 3, cafe service training with (MG) or without (CG) robot manipulation was conducted.
Brain activity was measured using fNIRS when participants observed a video of the robot raising its right arm as if to exchange greeting. Previous studies have reported that the dorsal premotor cortex (PMd) is important for arm movements (Hoshi & Tanji, 2000). Therefore, we focused on the PMd activity while observing the video. Note that back-projection was different from the simple 'mirror neuron system' activity, since back-projection occurs only when the participant felt the sense of embodiment towards the external object (Shimada, 2022). We analyzed the oxyHb data of the fNIRS data using a general linear model (GLM; Friston et al., 1995; Schroeter et al., 2004). We compared the t-values between the conditions as indices of task-related brain activity.
Brain activity was measured using fNIRS when participants observed a video of the robot raising its right arm as if to exchange greeting. Previous studies have reported that the dorsal premotor cortex (PMd) is important for arm movements (Hoshi & Tanji, 2000). Therefore, we focused on the PMd activity while observing the video. Note that back-projection was different from the simple 'mirror neuron system' activity, since back-projection occurs only when the participant felt the sense of embodiment towards the external object (Shimada, 2022). We analyzed the oxyHb data of the fNIRS data using a general linear model (GLM; Friston et al., 1995; Schroeter et al., 2004). We compared the t-values between the conditions as indices of task-related brain activity.
Results:
A two-way ANOVA (group × timing) for the fNIRS data revealed a significant interaction (p = 0.036, η² = 0.12; Fig.1). Subsequent analysis revealed significant differences between the timing factors in the MG (p = 0.043, r = 0.34), and between the two groups in the post-measurement (p = 0.005, r = 0.47). Finally, the correlation between changes in the questionnaire scores and PMd activity before and after training was examined, and significant correlation was found (p = 0.004, r = 0.43; Fig. 2).
·Fig.1 A two-way ANOVA for the fNIRS data in PMd.
·Fig.2 Correlation between the changes in the sense of agency questionnaire scores and the changes in PMd activity between the pre-training (Day1) and the post-training (Day4).
Conclusions:
The aim of this study was to investigate the sense of embodiment in telepresence robots and its neural correlates. The findings showed that observing robot movements elicited significantly enhanced PMd activity, resembling brain activity in self-performed movements, after the training in MG, but not in CG. This back-projection phenomenon confirms that the sense of embodiment was elicited, emphasizing how telepresence robot operation training fosters a connection between the operator and robot.
Motor Behavior:
Motor Behavior Other 2
Perception, Attention and Motor Behavior:
Attention: Auditory/Tactile/Motor 1
Keywords:
Cerebral Blood Flow
Cognition
Near Infra-Red Spectroscopy (NIRS)
Social Interactions
Somatosensory
Other - Telepresence Robot
1|2Indicates the priority used for review
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2. Hoshi, E et al. (2000). Integration of target and body-part information in the premotor cortex when planning action. Nature,408,466-470. https://doi.org/10.1038/35044075
3. OryLab Inc. (2021). Avatar Robot Café DAWN 2021. https://dawn2021.orylab.com/en/ (12/17/2024)
4. Schroeter, M. L. et al. (2004). Towards a standard analysis for functional near-infrared imaging. NeuroImage, 21(1), 283-290. https://doi.org/10.1016/j.neuroimage.2003.09.054
5. Shibuya, S. et al. (2019). Sensorimotor and posterior brain activations during the observation of illusory embodied fake hand movement. Frontiers in Human Neuroscience, 13, 367. https://doi.org/10.3389/fnhum.2019.00367
6. Shimada, S. (2022). Multisensory and sensorimotor integration in the embodied self: Relationship between self-body recognition and the mirror neuron system. Sensors, 22(13), 5059. https://doi.org/10.3390/s22135059
7. Tachi, S. (2019). Forty years of telexistence: From concept to TELESAR VI. International Conference on Artificial Reality and Telexistence Eurographics Symposium on Virtual Environments, 2019, 1–8. In Y. Kakehi & A. Hiyama (Eds.).