研究机器人遥控中通信延迟对人操作表现与脑认知的影响。
The Effects of Communication Delay on Human Performance and Neurocognitive Responses in Mobile Robot Teleoperation
- 通过10人实验结合脑电与机器人数据，测试0-500毫秒延迟
- 200-300毫秒延迟导致任务效率与准确率显著下降
- 发现100-200毫秒为延迟感知阈值，超400毫秒认知资源饱和
移动机器人遥控中的通信延迟会严重影响人机协作。理解延迟对人类操作表现和神经认知的影响至关重要，但此前尚无相关研究。为填补空白，我们开展了一项包含10名参与者的人在回路实验，结合脑电图（EEG）与机器人行为数据，在0-500毫秒（每100毫秒递增）的不同延迟条件下系统研究其影响。行为分析显示，200-300毫秒延迟下性能显著下降，影响任务效率与准确率。脑电分析发现前额θ/β波段和顶叶α波段功率具有显著延迟依赖性。我们还识别出人类早期感知延迟的阈值窗口（100-200毫秒），在此期间上述脑电特征首次出现显著差异。当延迟超过400毫秒时，所有特征趋于平缓，表明认知资源分配已达生理极限。这些发现首次揭示了遥控任务中人类感知与认知的延迟阈值，为延迟补偿策略的设计提供了关键神经认知依据。
原文摘要 · Abstract (English)
Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous research has explored this. To fill this gap, we conduct a human-in-the-loop experiment involving 10 participants, integrating electroencephalography (EEG) and robot behavior data under varying delays (0-500 ms in 100 ms increments) to systematically investigate these effects. Behavior analysis reveals significant performance degradation at 200-300 ms delays, affecting both task efficiency and accuracy. EEG analysis discovers features with significant delay dependence: frontal $θ/β$-band and parietal $α$-band power. We also identify a threshold window (100-200 ms) for early perception of delay in humans, during which these EEG features first exhibit significant differences. When delay exceeds 400 ms, all features plateau, indicating saturation of cognitive resource allocation at physiological limits. These findings provide the first evidence of perceptual and cognitive delay thresholds during teleoperation tasks in humans, offering critical neurocognitive insights for the design of delay compensation strategies.
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