Modulations of one's sense of agency during human-machine interactions: A behavioural study using a full humanoid robot.

Although previous investigations reported a reduced sense of agency when individuals act with traditional machines, little is known about the mechanisms underpinning interactions with human-like automata. The aim of this study was twofold: (1) to investigate the effect of the machine's physical appearance on the individuals' sense of agency and (2) to explore the cognitive mechanisms underlying the individuals' sense of agency when they are engaged in a joint task. Twenty-eight participants performed a joint Simon task together with another human or an automated artificial system as a co-agent. The physical appearance of the automated artificial system was manipulated so that participants could cooperate either with a servomotor or a full humanoid robot during the joint task. Both participants' response times and temporal estimations of action-output delays (i.e., an implicit measure of agency) were collected. Results showed that participants' sense of agency for self- and other-generated actions sharply declined during interactions with the servomotor compared with the human-human interactions. Interestingly, participants' sense of agency for self- and other-generated actions was reinforced when participants interacted with the humanoid robot compared with the servomotor. These results are discussed further.

Deep learning for biosignal control: insights from basic to real-time methods with recommendations.

Objective.Biosignal control is an interaction modality that allows users to interact with electronic devices by decoding the biological signals emanating from the movements or thoughts of the user. This manner of interaction with devices can enhance the sense of agency for users and enable persons suffering from a paralyzing condition to interact with everyday devices that would otherwise be challenging for them to use. It can also improve control of prosthetic devices and exoskeletons by making the interaction feel more natural and intuitive. However, with the current state of the art, several issues still need to be addressed to reliably decode user intent from biosignals and provide an improved user experience over other interaction modalities. One solution is to leverage advances in deep learning (DL) methods to provide more reliable decoding at the expense of added computational complexity. This scoping review introduces the basic concepts of DL and assists readers in deploying DL methods to a real-time control system that should operate under real-world conditions.Approach.The scope of this review covers any electronic device, but with an emphasis on robotic devices, as this is the most active area of research in biosignal control. We review the literature pertaining to the implementation and evaluation of control systems that incorporate DL to identify the main gaps and issues in the field, and formulate suggestions on how to mitigate them.Main results.The results highlight the main challenges in biosignal control with DL methods. Additionally, we were able to formulate guidelines on the best approach to designing, implementing and evaluating research prototypes that use DL in their biosignal control systems.Significance.This review should assist researchers that are new to the fields of biosignal control and DL in successfully deploying a full biosignal control system. Experts in their respective fields can use this article to identify possible avenues of research that would further advance the development of biosignal control with DL methods.

How using brain-machine interfaces influences the human sense of agency.

Brain-machine interfaces (BMI) allows individuals to control an external device by controlling their own brain activity, without requiring bodily or muscle movements. Performing voluntary movements is associated with the experience of agency ("sense of agency") over those movements and their outcomes. When people voluntarily control a BMI, they should likewise experience a sense of agency. However, using a BMI to act presents several differences compared to normal movements. In particular, BMIs lack sensorimotor feedback, afford lower controllability and are associated with increased cognitive fatigue. Here, we explored how these different factors influence the sense of agency across two studies in which participants learned to control a robotic hand through motor imagery decoded online through electroencephalography. We observed that the lack of sensorimotor information when using a BMI did not appear to influence the sense of agency. We further observed that experiencing lower control over the BMI reduced the sense of agency. Finally, we observed that the better participants controlled the BMI, the greater was the appropriation of the robotic hand, as measured by body-ownership and agency scores. Results are discussed based on existing theories on the sense of agency in light of the importance of BMI technology for patients using prosthetic limbs.

Unconscious categorization of sub-millisecond complex images.

Can people categorize complex visual scenes unconsciously? The possibility of unconscious perception remains controversial. Here, we addressed this question using psychophysical methods applied to unmasked visual stimuli presented for extremely short durations (in the µsec range) by means of a custom-built modern tachistoscope. Our experiment was composed of two phases. In the first phase, natural or urban scenes were either absent or present (for varying durations) on the tachistoscope screen, and participants were simply asked to evaluate their subjective perception using a 3-points scale (absence of stimulus, stimulus detection or stimulus identification). Participants' responses were tracked by means of two staircases. The first psychometric function aimed at defining participants' proportion of subjective detection responses (i.e., not having seen anything vs. having seen something without being able to identify it), while the second staircase tracked the proportion of subjective identification rates (i.e., being unaware of the stimulus' category vs. being aware of it). In the second phase, the same participants performed an objective categorization task in which they had to decide, on each trial, whether the image was a natural vs. an urban scene. A third staircase was used in this phase so as to build a psychometric curve reflecting the objective categorization performance of each participant. In this second phase, participants also rated their subjective perception of each stimulus on every trial, exactly as in the first phase of the experiment. Our main result is that objective categorization performance, here assumed to reflect the contribution of both conscious and unconscious trials, cannot be explained based exclusively on conscious trials. This clearly suggests that the categorization of complex visual scenes is possible even when participants report being unable to consciously perceive the contents of the stimulus.

New frontiers in the rubber hand experiment: when a robotic hand becomes one's own.

The rubber hand illusion is an experimental paradigm in which participants consider a fake hand to be part of their body. This paradigm has been used in many domains of psychology (i.e., research on pain, body ownership, agency) and is of clinical importance. The classic rubber hand paradigm nevertheless suffers from limitations, such as the absence of active motion or the reliance on approximate measurements, which makes strict experimental conditions difficult to obtain. Here, we report on the development of a novel technology-a robotic, user- and computer-controllable hand-that addresses many of the limitations associated with the classic rubber hand paradigm. Because participants can actively control the robotic hand, the device affords higher realism and authenticity. Our robotic hand has a comparatively low cost and opens up novel and innovative methods. In order to validate the robotic hand, we have carried out three experiments. The first two studies were based on previous research using the rubber hand, while the third was specific to the robotic hand. We measured both sense of agency and ownership. Overall, results show that participants experienced a "robotic hand illusion" in the baseline conditions. Furthermore, we also replicated previous results about agency and ownership.