We address the problem of physical avatar embodiment and investi-
gate the most general factors that may allow a person to “wear” an-
other body, different from her own. A general approach is required
to exploit the fact that an avatar can have any kind of body. With
this pilot study we introduce a conceptual framework for the design
of non-anthropomorphic embodiment, to foster immersion and
user engagement. The person is interfaced with the avatar, a robot,
through a system that induces a divergent internal sensorimotor
mapping while controlling the avatar, to create an immersive expe-
rience. Together with the conceptual framework, we present two
implementations: a prototype tested in the lab and an interactive in-
stallation exhibited to general public. These implementations consist
of a wheeled robot, and control and sensory feedback systems. The
control system includes mechanisms that both detect and resist the
user’s movement, increasing the sense of connection with the avatar;
the feedback system is a virtual reality (VR) environment represent-
ing the avatar’s unique perception, combining sensor and control in-
formation to generate visual cues. Data gathered from users indicate
that the systems implemented following the proposed framework
create a challenging and engaging experience, thus providing solid
ground for further developments
