The question how humans integrate artificial lower limb devices into their body schema has distinct potential for engineering motion assistance systems, e.g., the design of robotic prostheses. Adding robotic technology to existing psychological experiments enables a deeper investigation of multisensory interaction between proprioceptive, visual, and tactile stimuli during motion. This paper reports the design and control of a robot to investigate embodiment with regard to the lower limbs. In an evaluation study, the rubber hand illusion is transferred to the whole leg for the first time. Participants performed knee bends according to three different conditions being imitated by a robotic leg. The occurrence of a robotic leg illusion was subjectively assessed by a questionnaire and objectively measured by the proprioceptive drift. Considering both metrics, the results show a successful integration of the robotic leg into the body schema. Motion synchronization appears to be a paramount factor, whereby the study indicates that acoustical stimulation might also be relevant. The interrelation between mechatronic design and control of the human-in-the-loop experiment and the factors influencing the illusion are discussed and alternative experimental setups are suggested. Index Terms-Body schema, human-in-the-loop, human-robot interaction, multisensory integration, robotic leg illusion (RobLI). I. INTRODUCTION A FTER amputation of extremities, people are encouraged to wear prostheses when starting the rehabilitation process [1] and for the rest of their lives in order to maintain
Der Einsatz von Wertstromanalyse und Wertstromdesign ist in der industriellen Praxis weit verbreitet. Geeignete Softwarewerkzeuge können die Digitalisierung und Simulation von modellierten Wertströmen zeitgemäß unterstützen. Der nächste Schritt zum digitalen Wertstrommanagement in Richtung eines Digitalen Wertstromzwillings ist die online Verknüpfung mit aktuellen Daten aus der Produktion. Der vorliegende Beitrag skizziert wie diese Verknüpfung aussehen kann.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.