Visual Display Quality Effects on Operator Workload and Gaze Behavior in Lunar Construction Teleoperation

Abstract Teleoperation technologies enable machines to operate effectively in space exploration, particularly in constructing sustainable habitats on extraterrestrial surfaces, such as the Moon. Yet constrained communication systems, when compounded by the Moon’s extreme environment, degrade visual display quality and lead to persistent visual feedback latency during construction tasks. In this study, the scope of lunar construction tasks examined is limited specifically to excavator operation. This paper examines the effects of visual display quality within a constrained deep space network system, which has limited bandwidth and communication delays due to insufficient network infrastructure and vast distances. We evaluate how visual display quality under latency conditions affects operators’ workload and their gaze behavior during teleoperation tasks. Our findings enhance the understanding of the relationship between visual fidelity and workload, suggesting that display quality can be compromised while maintaining operators’ task performance. By leveraging the evaluation of workload and gaze behavior, this paper presents empirical evidence that can inform the design of visual display interfaces for teleoperated lunar excavation.