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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
Body Schema Deformation in Teleoperation: Effect of Sensori-motor Contingences
Author(s)
Yves Rybarczyk
Daniel Mestre
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DOI:10.17265/2159-5542/2011.01.004
Affiliation(s)
New University of Lisbon, Lisbon, Portugal
CNRS-University of Mediterranean, Marseilles, France
ABSTRACT
Neuropsychological
and neurophysiological studies have shown that the body schema is deformable.
Experimental studies suggest that human and non-human primates extend their
pericorporal space internal representation, in such a way to “include” a tool
they use. Such plasticity of our body representation might be explained by the
fact that an “artefact”, integrated into the sensori-motor control loop, is
assimilated as being part of the organism. Until now, experiments have been
limited to direct interaction with simple tools (like sticks, rakes, etc.). In
these conditions, perceptivo-motor relationships are relatively straightforward
and natural for the user. The objective of this paper is to study whether the
body schema can be altered when the correlation between motor actions and their
perceptual consequences is more complex, like in teleoperation situations. In
the present study, subjects remotely controlled a robotic arm. Its movements
could only be seen through a camera connected to a video terminal. The camera
was placed at different angles relative to the robotic arm. Results indicate an
actual extension of the pericorporal space, only when the topological
architecture of the teleoperated system tends to respect the human’s
sensori-motor contingencies.
KEYWORDS
human-machine interaction, remote control, internal model, pericorporal space, plasticity, sensori-motor loop
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