Enhancing Sense of Agency in GUI-Based Teleoperation Through Robot Trajectory Generation Focused on Motor Imagery

This paper discusses the relationship between robot movements and sense of agency in the teleoperation of a robot arm using a graphical user interface. Based on the sense of agency model, this study focuses on the imagery of robot movements held by operators. It verifies the relationship between imagined robot movements and preferred actual robot movements, as well as the relationship between robot movements and the sense of agency during operations, through two experiments. These findings suggest that operators exhibit a bias toward favoring swifter motions than those depicted in the imagery. Additionally, this study suggests that when there are significant differences in the movement distance and speed between movements based on imagined robot actions and those that consider bias, the sense of agency decreases. In particular, when considering the bias towards preferring faster movements, adjusting the control to achieve the same acceleration as movements that consider this bias, even when the movement distance changes, can evoke a sense of agency during the operation.