Toward Standard Guidelines to Design the Sense of Embodiment in Teleoperation Applications: A Review and Toolbox

ABSTRACT We present a literature review and a toolbox to help the reader find the best method to design for and assess Sense of Embodiment (SoE) in several application scenarios. The main examples are based on teleoperation applications, due the challenges that these applications present. The three embodiment components that we consider to describe SoE are sense of ownership, sense of agency, and sense of self-location. We relate each embodiment component to the most often used assessment measures, test tasks, and application scenarios. The toolbox is built to efficiently design, test, and assess an embodiment experience, following seven concrete steps. We provide four main contributions: 1) a literature review of the assessment measures and strategies used to measure SoE; 2) a systematic categorization of SoE measures; 3) A categorization of the main test tasks used in SoE assessment; and 4) a toolbox consisting of seven steps as guidance to design SoE. We included several examples and tables to guide the user step by step through the design of an embodiment experience.