La prise de perspective (PP) renvoie à la capacité de comprendre le point de vue psychologique d’autrui. Elle constitue une notion complexe, impliquant différents processus, comme la capacité de prendre conscience de soi et d’autrui, d’inhiber son point de vue, de passer d’un point de vue à un autre ou d’endosser la perspective d’autrui. Ces étapes mobilisent la conscience de soi (CS), la distinction soi-autrui (DSA) et la flexibilité cognitive (FC).Notre recherche vise à évaluer comment des déficits dans chacune de ces sphères pourraient sous-tendre une altération des capacités de PP. Pour ce faire, trois protocoles originaux sont utilisés : ils s’attachent à clarifier les liens entre la PP et les autres composantes empathiques à l’aide de mesures physiologiques, à évaluer les déficits des composantes évoquées dans la dépression sous-clinique et à tester l’effet de deux programmes d’entraînements (CF, PP) sur la symptomatologie dépressive.Les résultats montrent une implication de la PP comme processus transversal des réponses empathiques et son lien avec les composantes automatiques de l’empathie. Ils soutiennent l’existence d’un pattern de déficits en CS, DSA, FC et PP semblables à ceux mis en évidence dans les niveaux cliniques de dépression. Enfin, l’efficacité d’un entraînement à la CF sur les capacités de PP ajoute un argument au lien causal unissant les deux concepts. Nos résultats contribuent à mieux comprendre la dynamique commandant à une chaîne de déficits inter-reliés pour mieux prévenir la maladie chez les personnes à risques. / Perspective-taking (PT) refers to the ability to understand the psychological point of view of others. It is a complex notion involving the ability to become aware of oneself and others, to inhibit one's point of view, to move from one point of view to another and to adopt the perspective of others. These various stages mobilize self-consciousness (CS), self-other distinction (SOD) and cognitive flexibility (CF).Our research aims to evaluate how deficits in each of these spheres could underlie an alteration of perspective-taking abilities. To do so, it uses three original protocols aimed at clarifying the links between PT and the other empathic components by using physiological measures, evaluating the deficits of the processes mentioned in subclinical depression and to test the effect of two training programs (CF, PT) on depressive symptomatology.The results show PT involvement as a transversal process of empathic responses and its connection to the automatic components of empathy. They also support the existence of a pattern of deficits in CS, SOD, FC and PT similar to those found in clinical depression levels. Finally, the effectiveness of PT training on PT capabilities adds an argument to the causal link between these two concepts. Our results contribute to a better understanding of the dynamics driving a chain of interrelated deficits to better prevent the emergence of depression among people at risk.

In the last decade, neuroscience and psychology alike have paid increasing attention to the study of affective touch, which refers to the emotional and motivational facets of tactile sensation. Some aspects of affective touch have been linked to a neurophysiologically specialised system, namely the C tactile (CT) system. While the role of this system for affiliation, social bonding and communication of emotions have been investigated, less is known about the potential role of affective touch in the awareness of the body as our own, i.e. as belonging to our psychological 'self'. This thesis attempted to contribute to the knowledge on affective touch and its relation to body awareness, by exploring the potential role of this modality to the way we perceive and make sense of our body as our own. Specifically, this work aimed to advance the current state of knowledge by investigating: 1) the effect of affective touch on the sense of body ownership, which is a fundamental aspect of body awareness; 2) the relation between interoceptive modalities, originating both internally (i.e. cardiac awareness) and peripherally (i.e. affective touch), and exteroception in body awareness; 3) the effect of intranasal oxytocin on the perception of affective touch and bodily awareness; 4) the perception and social modulation of affective touch in psychiatric patients who show difficulties in body awareness, namely patients with Anorexia Nervosa, and 5) the modulating role of self-other distinction and of self-other relation in the perception of affective touch and body awareness. In a first experiment (N = 52) the rubber hand illusion paradigm was used to investigate the role played by CT-optimal, affective touch in the sense of body ownership. The results showed that slow, pleasant touch enhanced the experience of embodiment in comparison to faster, neutral touch, suggesting that affective touch might uniquely contribute to the sense of body ownership. The following study (N = 75), used a similar methodology to test whether interoceptive sensitivity as measured by a heartbeat counting task would modulate the extent to which affective touch influences the multisensory process taking place during the rubber hand illusion. The results could not confirm a systematic relation between interoceptive sensitivity and the perception of affective touch, nor its influence on body ownership. The next study (N = 41) included a double-blind, placebo-controlled, randomised, cross-over design testing the effect of intranasal oxytocin on the perception of affective touch and body ownership, as measured by means of the rubber hand illusion. There was no evidence supporting the hypothesis that intranasal oxytocin could influence the CT system as tested in this study. The next study (N = 55) applied some of the above methodologies to investigate the perception of CT-optimal touch in patients with anorexia nervosa and its emotional modulation by top-down factors. The results confirmed the hypothesis that people with anorexia nervosa show a reduced perception of affective touch compared to healthy controls, but its perception was not influenced by top-down affective modulation, in the sense that both patients and healthy controls perceived touch as more pleasant when presented concurrently with positive facial expressions compared to neutral and negative faces. Finally, the last two studies (N = 76 and 35 healthy volunteers, respectively) focused on the relationship between affective touch and body awareness in the context of social cognition. These studies used both online and offline social modulation paradigms to investigate the role of self-other distinction and of self-other relation in the perception of affective touch. The results showed that positive top-down social information can enhance the perceived pleasure of tactile stimulation. Taken together, these studies point to the central role of affective touch in body awareness and social cognition. Finally, they also pave the way for future studies examining the role of disruptions of the CT system in the development of neuropsychiatric impairments of body awareness and social cognition.

Heutige Roboter sind nur begrenzt in der Lage etwas zu erlernen, sich unerwarteten Umständen anzupassen oder auf diese zu reagieren. Als Antwort auf diese Fragen, develomental robotics setzt sich den Aufbau eines künstlichen Systems zum Ziel, das motorische und kognitive Fähigkeiten analog zur menschlichen Entwicklung durch Interaktion mit der Umgebung entwickeln kann. In dieser Arbeit wird ein ähnlich Ansatz verwendet, mit Hilfe dessen grundlegende Verhaltenskomponenten identifiziert werden sollen, die eine autonome Aneignung motorischer und kognitive Fähigkeiten durch die Roboter ermöglichen könnten. Diese Arbeit untersucht die sensomotorische Interaktion als Mittel zur Schaffung von Erfahrungen. Es werden Experimente zu explorative Verhaltensweisen zur Aneigung von Arbewegungen, der Werkzeugnutzung und von interaktiven Fähigkeiten vorgestellt. In diesem Rahmen wird auch die Entwicklung sozialer Fähigkeiten, insbesondere durch joint attention, behandelt. Dabei werden zwei Vorraussetzugen zu joint attention untersucht: Zeigegesten und Erkennung von visueller Salienz. Dabei wurde das Framework der interen Modelle für die Darstellung von sensomotorischen Erfahrungen angewendet. Insbesondere wurden inverse und Vorwärtsmodelle mit unterschiedlichen Konfigurationen am sensorischen und motorischen Daten, die vom Roboter durch exploratives Verhalten, durch Beobachtung menschliche Vorführern, oder durch kinästhetisches Lehren erzeugt wurden geschult. Die Entscheidung zu Gunsten dieses Framework wurde getroffen, da es in der Lage ist, sensomotorische Zyklen zu simulieren. Diese Arbeit untersucht, wie grundlegende kognitive Fähigkeiten in einen humanoiden Roboter unter Berücksichtigung sensorischer und motorischer Erfahrungen implementiert werden können. Insbesondere wurden interne Simulationsprozesse für die Implementierung von Kognitivenfahigkeiten wie die Aktionsauswahl, die Werkzeugnutzung, die Verhaltenserkennung und die Self-Other distinction, eingesetzt. / State-of-the-art robots are still not properly able to learn from, adapt to, react to unexpected circumstances, and to autonomously and safely operate in uncertain environments. Researchers in developmental robotics address these issues by building artificial systems capable of acquiring motor and cognitive capabilities by interacting with their environment, inspired by human development. This thesis adopts a similar approach in finding some of those basic behavioural components that may allow for the autonomous development of sensorimotor and social skills in robots. Here, sensorimotor interactions are investigated as a mean for the acquisition of experience. Experiments on exploration behaviours for the acquisition of arm movements, tool-use and interactive capabilities are presented. The development of social skills is also addressed, in particular of joint attention, the capability to share the focus of attention between individuals. Two prerequisites of joint attention are investigated: imperative pointing gestures and visual saliency detection. The established framework of the internal models is adopted for coding sensorimotor experience in robots. In particular, inverse and forward models are trained with different configurations of low-level sensory and motor data generated by the robot through exploration behaviours, or observed by human demonstrator, or acquired through kinaesthetic teaching. The internal models framework allows the generation of simulations of sensorimotor cycles. This thesis investigates also how basic cognitive skills can be implemented in a humanoid robot by allowing it to recreate the perceptual and motor experience gathered in past interactions with the external world. In particular, simulation processes are used as a basis for implementing cognitive skills such as action selection, tool-use, behaviour recognition and self-other distinction.