Journal article
I. Wald, Amber Maimon, Shiyao Zhang, Dennis Küster, R. Porzel, Tanja Schultz, Rainer Malaka
IEEE/ACM International Conference on Human-Robot Interaction, 2025
IEEE/ACM International Conference on Human-Robot Interaction, 2025
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APA
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Wald, I., Maimon, A., Zhang, S., Küster, D., Porzel, R., Schultz, T., & Malaka, R. (2025). Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots. IEEE/ACM International Conference on Human-Robot Interaction.
Chicago/Turabian
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Wald, I., Amber Maimon, Shiyao Zhang, Dennis Küster, R. Porzel, Tanja Schultz, and Rainer Malaka. “Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots.” IEEE/ACM International Conference on Human-Robot Interaction (2025).
MLA
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Wald, I., et al. “Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots.” IEEE/ACM International Conference on Human-Robot Interaction, 2025.
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@article{i2025a,
title = {Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots},
year = {2025},
journal = {IEEE/ACM International Conference on Human-Robot Interaction},
author = {Wald, I. and Maimon, Amber and Zhang, Shiyao and Küster, Dennis and Porzel, R. and Schultz, Tanja and Malaka, Rainer}
}
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.