One Body, Two Minds: Alternating VR Perspective During Remote Teleoperation of Supernumerary Limbs

TL;DR

This study explores perspective switching in remote VR teleoperation with supernumerary limbs, comparing shared, anchored, and out-of-body views to optimize coordination, embodiment, and comfort for users.

Contribution

It introduces guest-driven perspective switching methods and evaluates their effects on performance and user experience in supernumerary limb teleoperation.

Findings

Out-of-body view enhances navigation efficiency and reduces errors.

Embedded anchored view supports user embodiment.

Role-dependent trade-offs influence view effectiveness.

Abstract

Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade comfort, embodiment, and coordination. Based on a formative study (N=10) using a virtual supernumerary robotic limbs configuration to stress-test coordination, we propose guest-driven perspective switching from a shared first-person baseline (Shared Embodied View) to two alternatives: (a) a stabilized view with guest-controlled rotation (Embedded Anchored View), and (b) a fully decoupled third-person view (Out-of-body View). We ran a user study with 24 pairs (N=48) who switched between the baseline and proposed views as task demands changed. We measured performance, embodiment, fatigue, physiological arousal, and switching behaviors. Our results reveal role-dependent trade-offs: Out-of-body View improves navigation efficiency and reduces errors, while Embedded Anchored View supports embodiment. We conclude with guidelines: use Embedded Anchored View for hand-centric adjustments, Out-of-body View for navigation and object placement, and ensure smooth transitions.