Аннотация:In this paper, we present a novel experimental design for studying sense of agency (SoA) in joint human-machine actions than involved grasping movements. The joint actions were implemented by using an electromechanical grasping device propelled by a servo drive. The device completed a grasping action initiated by a participant. These actions were contrasted with other levels of the participant’s involvement, including active movements, passive movement and observation of a dummy’s movement. Our experimental setup allows us for studying the possible correlation between the level of involvement into action and quantitative distance estimates. The proposed experimental design was tested in a pilot study involving 9 heathy volunteers. In particular, the survey results showed a significant correspondence between the score of reported SoA and participant’s role in action. We suppose that our new design for studying joint actions will contribute to the development of exoskeletons, rehabilitation technologies and advanced human-machine systems.