Estimation of Factor Structure of Sense of Agency in Remote Control of Manipulator and Its Relation to Operation Logs

Considering teleoperation of manipulators, we examined the effects of latency that may occur during teleoperation on the sense of agency. The study assumed pick-and-place operations with the manipulator, and initially evaluated the impact of steady latency on the task. Next, in order to further investigate the effect of latency in which area in the operation, we divided the pick-and-place operation into a rough operation, which is a part of large movement, and a precision operation, which is a fine positioning operation necessary when grasping an object, and evaluated the difference in the effect of latency in each operation. In addition to the steady-state latency, the evaluation also took into account the latency fluctuations that may occur in actual communication. In addition, we analyzed the changes in subjective evaluation due to delay and the operation logs, clarified the factor structure of the sense of subjectivity, and also showed the relationship with the logs.