对比两种操作界面在基础任务中的表现，发现适配任务动作类型能提升效率。
A User Study on the Suitability of Teleoperation Interfaces for Primitive Manipulation Tasks
- 用3D鼠标和VR控制器完成按钮按压与旋钮旋转任务
- VR控制器在按按钮时更高效，3D鼠标在转旋钮时更省力
- 任务动作特征应作为接口设计的核心考量
遥控机械臂的应用已广泛探索，用户友好的遥控系统有助于提升性能并降低操作负担。为探究实际遥控系统中的主导因素，本研究聚焦于操作机械臂的界面特性。界面的可用性取决于待完成操作任务的特征；然而，不同界面在不同任务间的系统性比较仍较有限。本研究比较了两种广泛应用的遥控界面——3D鼠标与VR控制器——在六自由度（6DoF）机械臂上执行两种简单但普遍适用的任务：重复按压按钮和旋转旋钮。23名参与者在3分钟内尽可能多地完成任务，每次试验后进行NASA-TLX工作负荷评分。结果显示，界面与任务表现存在明确关联：在按压按钮任务中，VR控制器表现更优；而在旋钮旋转任务中，3D鼠标表现更好且操作负担更低。这些发现强调了在设计实用遥控界面时，需考虑任务的主要运动特征。
原文摘要 · Abstract (English)
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.
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