Sense of joint agency (SoJA) is the sense of control experienced by humans when acting with others to bring about changes in the shared environment. SoJA is proposed to arise from the sensorimotor predictive processes underlying action control and monitoring. Because SoJA is a ubiquitous phenomenon occurring when we perform actions with other humans, it is of great interest and importance to understand whether—and under what conditions—SoJA occurs in collaborative tasks with humanoid robots. In this study, using behavioral measures and neural responses measured by electroencephalography (EEG), we aimed to evaluate whether SoJA occurs in joint action with the humanoid robot iCub and whether its emergence is influenced by the perceived intentionality of the robot. Behavioral results show that participants experienced SoJA with the robot partner when it was presented as an intentional agent but not when it was presented as a mechanical artifact. EEG results show that the mechanism that influences the emergence of SoJA in the condition when the robot is presented as an intentional agent is the ability to form similarly accurate predictions about the sensory consequences of our own and others’ actions, leading to similar modulatory activity over sensory processing. Together, our results shed light on the joint sensorimotor processing mechanisms underlying the emergence of SoJA in human-robot interaction and underscore the importance of attribution of intentionality to the robot in human-robot collaboration.

中文翻译：

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当与机器人一起执行操作时，意向性的归因会影响联合能动性感


联合代理感 （SoJA） 是人类在与他人一起行动以改变共享环境时所体验到的控制感。SoJA 被认为是由动作控制和监测背后的感觉运动预测过程引起的。由于 SoJA 是一种普遍存在的现象，当我们与他人一起执行操作时，因此了解 SoJA 是否以及在什么条件下发生在与人形机器人的协作任务中具有极大的兴趣和重要性。在这项研究中，使用通过脑电图 （EEG） 测量的行为测量和神经反应，我们旨在评估 SoJA 是否发生在与人形机器人 iCub 的联合行动中，以及它的出现是否受到机器人感知意向性的影响。行为结果表明，当 SoJA 被呈现为有意代理时，参与者与机器人伙伴一起体验了 SoJA，但当它被呈现为机械人工制品时，则没有。脑电图结果表明，当机器人被呈现为有意代理时，影响 SoJA 出现的机制是能够对我们自己和他人行为的感觉后果形成同样准确的预测，从而导致对感觉处理的类似调节活动。总之，我们的结果阐明了 SoJA 在人机交互中出现背后的关节感觉运动处理机制，并强调了在人机协作中将意向性归因于机器人的重要性。