  The human brain's plasticity allows for the integration of artificial body
parts into the human body. Leveraging this, embodied systems realize intuitive
interactions with the environment. We introduce a novel concept: embodied swarm
robots. Swarm robots constitute a collective of robots working in harmony to
achieve a common objective, in our case, serving as functional body parts.
Embodied swarm robots can dynamically alter their shape, density, and the
correspondences between body parts and individual robots. We contribute an
investigation of the influence on embodiment of swarm robot-specific factors
derived from these characteristics, focusing on a hand. Our paper is the first
to examine these factors through virtual reality (VR) and real-world robot
studies to provide essential design considerations and applications of embodied
swarm robots. Through quantitative and qualitative analysis, we identified a
system configuration to achieve the embodiment of swarm robots.
