Perception and Displays for Teleoperated Robots

Abstract

In remote or teleoperational tasks involving humans and robots, various aspects of the remote display system may greatly influence the individual's interactions with the teleoperated entity. We look at the effects of display size, display orientation, and display viewpoint on several measures of operator performance, physiological state, and perceptions of the task. Overall performance is measured in terms of accuracy and completion times. Physiological state is assessed through physiological markers of arousal, specifically heart rate, pulse, and skin conductance. Operator perception of the task is measured with a collection of self reported perceptions of workload, frustration, and sense of control. Results indicate that there are significant performance-related and physiological changes in the operator due to conditions of screen size, angle, and viewpoint. Small screen size was most associated with increased workload. Results have important implications for teleoperated robot display design.