Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots

TL;DR

This paper introduces a novel approach to enhance user embodiment in robots by synchronizing robotic movements with users' real-time breath signals, significantly increasing body ownership and user preference.

Contribution

It presents the first use of real-time breath synchronization as an interoceptive pathway to improve embodiment in human-robot interaction.

Findings

Breath synchronization significantly increased body ownership.

Participants preferred synchronized over non-synchronized conditions.

The approach has implications for telepresence, prosthetics, and shared autonomy.

Abstract

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.