Synchronous and Asynchronous Manipulation Switching of Multiple Robotic Embodiment Using EMG and Eye Gaze

Through the use of multiple avatars and robots, the construction of an alter ego whose senses and movements are synchronized with those of the operator has been explored. There are two possible states of operation when manipulating those bodies as synchronous operation: multiple bodies are synchronized simultaneously, and asynchronous operation: a specific body is selectively operated. We propose a system that allows intuitive switching between the active robot and the operation state by Eye gaze and EMG. A two-stage pick-and-place task was performed with the proposed system, and task performance and subjective evaluation of embodiment were analyzed. To consider the coordinates of the tracker in the asynchronous operation of the robot arm, we performed a similar study for a coordinate condition: the absolute coordinate condition, where the coordinates of the tracker are stored in space, and the relative coordinate condition, where only the motion of the tracker is added.