JEMSyS: Jerk Experience Model for Human-Machine Symbiosis – Exploring the Influence of Translational Jerks on Sense of Agency and Embodiment

Facing a shortage of skilled labor, Human-Machine Symbiosis aims to combine human adaptability with machine precision to enable productive, user-centered work. In physical interaction, sudden and unpredictable dynamic events - characterized by jerk - can disrupt the user’s sense of control and integration. This study addresses a gap in understanding the impact of dynamic loads on human experience during machine operation. Specifically, we examine the influence of jerk intensity on Sense of Agency (SoA) and Embodiment. These experiential constructs reflect perceived control and bodily integration - critical for symbiotic human-machine interaction. In a controlled experiment, 43 participants performed milling tasks using a hand-guided router under systematically varied jerk conditions. SoA and Embodiment were assessed using validated questionnaires. Linear mixed-effects models identified maximum jerk as the most robust predictor, showing significant negative effects on both constructs. Segmented regression analysis revealed increased sensitivity to jerk at lower intensities, particularly for Embodiment. While movement direction influenced baseline SoA, it did not moderate the jerk-SoA relationship. ... mehrBased on these findings, we propose an initial Jerk Experience Model that quantitatively links jerk intensity to experiential degradation. This model provides a foundation for deriving application-specific design requirements, thereby supporting the development of perception-aligned human-machine systems. We formulate hypotheses on influencing factors to guide future research aimed at broadening the model’s applicability across use cases.