Exploring Visual Conditions in Virtual Reality for the Teleoperation of Robots

In the teleoperation of robots, the absence of proprioception means that visual information plays a crucial role. Previous research has investigated methods to offer optimal vantage points to operators during teleoperation, with virtual reality (VR) being proposed as a mechanism to give the operator intuitive control over the viewpoint for improved visibility and interaction. However, the most effective perspective for robot operation and the optimal portrayal of the robot within the virtual environment remain unclear. This paper examines the impact of various visual conditions on users’ efficiency and preference in controlling a simulated robot via VR. We present a user study that compares two operating perspectives and three robot appearances. The findings indicate mixed user preferences and highlight distinct advantages associated with each perspective and appearance combination. We conclude with recommendations on selecting the most beneficial perspective and appearance based on specific application requirements.