Handle shape influences system usability in telemanipulation

In case contact forces between the follower end-effector and its surroundings are not critical, the <i>fixed-hook</i>-grasp handle showed the best results out of the nine tested handles. In case low contact forces are crucial, the <i>tripod</i>-grasp handle was most suitable. It can thus be deduced that different grasp-type telemanipulator handles affect system usability for a surgery-related, teleoperated six degrees of freedom placement task. Also, maximizing the functional rotational workspace can positively affect system usability.