Mitigating Latency Effects on Subjective Experience in Robot Teleoperation Using a VR-Enabled Virtual Spring

Remote robot teleoperation is crucial for tasks that require human oversight, yet latency can significantly impair operator performance and result in discomfort, break inpresence and increased workload. In this paper, we propose a new robot teleoperation technique based on Virtual Reality that is expected to alleviate the negative impactson subjective experience caused by latency. The technique allows users to manipulate a virtual robot synchronized with a real one by ‘grabbing’ a virtual spring attached to it. Controller vibration is also used to simulate spring force feedback, together creating an illusion that the position discrepancy is caused by the dynamics of the spring instead of latency. We hypothesize that this approach can mitigate the negative effects of latency by making the robot’s movement appear less strange and more natural. A user study was conducted to evaluate the effectiveness of virtual spring and controller vibration separately using a $2 \times 2$ factorial design. The results suggest that the virtual spring enhanced user comfort level and the sense of presence, but the controller vibration showed no clear benefits.