Embodied Tentacle: Mapping Design to Control of Non-Analogous Body Parts with the Human Body

Manipulating a non-humanoid body using a mapping approach that translates human body activity into diferent structural movements enables users to perform tasks that are difcult with their innate bodies. However, a key challenge is how to design an efective mapping to control non-analogous body parts with the human body. To address this challenge, we designed an articulated virtual arm and investigated the efect of mapping methods on a user's manipulation experience. Specifcally, we developed an unbranched 12-joint virtual arm with an octopus-like appearance. Using this arm, we conducted a user study to compare the efects of several mapping methods with diferent arrangements on task performance and subjective evaluations of embodiment and user preference. As a result, we identifed three important factors in mapping: "Visual and Confgurational Similarity", "Kinematics Suitability for the User", and "Correspondence with Everyday Actions." Based on these fndings, we discuss a mapping design for non-humanoid body manipulation.