A User Study on the Suitability of Teleoperation Interfaces for Primitive Manipulation Tasks

TL;DR

This study compares the usability of a 3D mouse and VR controller for simple manipulation tasks, revealing that interface effectiveness depends on the task's dominant motion primitives, which informs better teleoperation interface design.

Contribution

It systematically evaluates two common teleoperation interfaces across different tasks, highlighting the importance of task-specific interface selection for robotic arm control.

Findings

VR controller outperforms 3D mouse for button pressing

3D mouse performs better for knob rotation

Interface effectiveness depends on task-specific motion primitives

Abstract

The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant factors in a practical teleoperation system, this study focused on the characteristics of an interface used to operate a robotic arm. The usability of an interface depends on the characteristics of the manipulation tasks to be completed; however, systematic comparisons of different interfaces across different tasks remain limited. In this study, we compared two widely used teleoperation interfaces, a 3D mouse and a VR controller, for two simple yet broadly applicable tasks with a six-degree-of-freedom (6DoF) robotic arm: repetitively pushing buttons and rotating knobs. Participants (N = 23) controlled a robotic arm with 6DoF to push buttons and rotate knobs as many times as possible in 3-minute trials. Each trial was followed by a NASA-TLX workload rating. The results showed a clear connection between the interface and task performance: the VR controller yielded higher performance for pushing buttons, whereas the 3D mouse performed better and was less demanding for knob rotation. These findings highlight the importance of considering dominant motion primitives of the task when designing practical teleoperation interfaces.