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Third-Person Views and Enhanced Visual Feedback for Precision Telemanipulation: A Human-Centred Operator Study
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DOI：10.3390/robotics15080151.png)
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Abstract
En 中文
Remote teleoperation interfaces for precision manipulation should support operator awareness and usability while preserving human control, consistent with the human-centred goals of Industry 5.0. This study conducted a within-subject user evaluation with 18 participants using a UR5 arm. Three interface conditions were compared: an enhanced first-person interface with visual overlays (FPV+), a multi-view interface combining first-person and third-person views (PiP), and a multi-view interface with enhanced visual overlays (PiP+). Participants completed a ball task and a pen insertion task in pseudo-randomised order. Binary task success was analysed using generalised linear mixed-effects models, while System Usability Scale scores were analysed using a linear mixed-effects model. Neither adding a third-person view to the enhanced first-person interface nor adding the minimap and tactile-dot overlays to the multi-view interface was significantly associated with task success. A post hoc sensitivity analysis showed that these binary-success comparisons were sensitive only to large effects, so they are interpreted as inconclusive rather than as evidence of absence. Success was significantly lower for the pen task, and its relationship with prior human–robot interaction experience differed from that observed for the ball task. Adding a third-person view was associated with an approximately 16-point higher System Usability Scale score, whereas the minimap and tactile-dot overlays were not significantly associated with usability. These findings illustrate a human-centred evaluation principle relevant to Industry 5.0: an interface feature can improve the operator’s experience of a teleoperation system even when no corresponding change in objective task success is detectable, revealing a benefit that a performance-only evaluation might overlook.
Keywords:
precision telemanipulation
human–robot collaboration
third-person view
visual feedback
perceived usability
operator experience
human-centred evaluation
situational awareness
Industry 5.0
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