Page 61 - Human Inspired Dexterity in Robotic Manipulation

Intuitive Control in Robotic Manipulation 57

Fig. 4.3 Proprioceptive drift for different rubber hand illusion configurations.

In the second experiment, we inserted an artificial time delay between
the master and slave. The experimental setup was configured based on Trial
b of the first experiment. The inserted time delay was ranged from 50 to
300 ms, excluding the intrinsic system time delay of 2 ms. In the experi-
ments, we recruited 14 subjects, and the time delay was tested in a random
order. Fig. 4.4 shows the experimental results in proprioceptive drift mea-
surement. The multisensory illusion was significantly worse for inserted time
delays of 100 ms or longer. The questionnaire assessment verifies this result.
This suggests that the time delay between master and slave must be smaller
than 100 ms to effectively elicit the multisensory illusion.
From the results of these two experiments, it was revealed that self-
motion significantly increases the multisensory illusion compared with the
classic RHI, and the time delay is correlated with the magnitude
(P < .001***, P < .01**, P < .05*, two-tailed paired samples t-test). This
suggests that multisensory illusions can be elicited in a robotic manipulator
using MSS, because the system inherently involves self-motion. However,
the time delay required is recommended to be <100 ms, which is shorter

Fig. 4.4 Proprioceptive drift for different time delays.