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| Autores principales: | , , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2512.14952 |
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| _version_ | 1866917150926569472 |
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| author | Wald, Iddo Yehoshua Maimon, Amber Zhang, Shiyao Küster, Dennis Porzel, Robert Schultz, Tanja Malaka, Rainer |
| author_facet | Wald, Iddo Yehoshua Maimon, Amber Zhang, Shiyao Küster, Dennis Porzel, Robert Schultz, Tanja Malaka, Rainer |
| contents | Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency, contributing to the experience of embodiment. We extend this work by employing embreathment, the representation of the user's own breath in real time, as a means for enhancing user embodiment experience in robots. In a within-subjects experiment, participants controlled a robotic arm, while its movements were either synchronized or non-synchronized with their own breath. Synchrony was shown to significantly increase body ownership, and was preferred by most participants. We propose the representation of physiological signals as a novel interoceptive pathway for human-robot interaction, and discuss implications for telepresence, prosthetics, collaboration with robots, and shared autonomy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_14952 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots Wald, Iddo Yehoshua Maimon, Amber Zhang, Shiyao Küster, Dennis Porzel, Robert Schultz, Tanja Malaka, Rainer Robotics Human-Computer Interaction Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency, contributing to the experience of embodiment. We extend this work by employing embreathment, the representation of the user's own breath in real time, as a means for enhancing user embodiment experience in robots. In a within-subjects experiment, participants controlled a robotic arm, while its movements were either synchronized or non-synchronized with their own breath. Synchrony was shown to significantly increase body ownership, and was preferred by most participants. We propose the representation of physiological signals as a novel interoceptive pathway for human-robot interaction, and discuss implications for telepresence, prosthetics, collaboration with robots, and shared autonomy. |
| title | Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2512.14952 |