{"id":"https://openalex.org/W7115167413","doi":"https://doi.org/10.1145/3785141","title":"A Holistic Evaluation of Teleoperation Interfaces for Robotic Manipulation","display_name":"A Holistic Evaluation of Teleoperation Interfaces for Robotic Manipulation","publication_year":2025,"publication_date":"2025-12-15","ids":{"openalex":"https://openalex.org/W7115167413","doi":"https://doi.org/10.1145/3785141"},"language":"en","primary_location":{"id":"doi:10.1145/3785141","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3785141","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shaid Hasan","orcid":"https://orcid.org/0000-0002-0076-5287"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaid Hasan","raw_affiliation_strings":["Computer Science, University of Virginia, Charlottesville, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0002-0076-5287","affiliations":[{"raw_affiliation_string":"Computer Science, University of Virginia, Charlottesville, Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mohammad Samin Yasar","orcid":"https://orcid.org/0000-0002-4684-2823"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Samin Yasar","raw_affiliation_strings":["Electrical and Computer Engineering, University of Virginia, Charlottesville, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0002-4684-2823","affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, University of Virginia, Charlottesville, Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tariq Iqbal","orcid":"https://orcid.org/0000-0003-0133-1234"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tariq Iqbal","raw_affiliation_strings":["University of Virginia, Charlottesville, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0003-0133-1234","affiliations":[{"raw_affiliation_string":"University of Virginia, Charlottesville, Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45057225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"2","first_page":"1","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6516000032424927,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6516000032424927,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.11289999634027481,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.08129999786615372,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8949999809265137},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6395999789237976},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6079999804496765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4959999918937683},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4925999939441681},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4819999933242798},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.40400001406669617},{"id":"https://openalex.org/keywords/cognitive-load","display_name":"Cognitive load","score":0.3727000057697296},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.36390000581741333}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8949999809265137},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6604999899864197},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6395999789237976},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6079999804496765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.553600013256073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4959999918937683},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4925999939441681},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4819999933242798},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.40400001406669617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37400001287460327},{"id":"https://openalex.org/C61641136","wikidata":"https://www.wikidata.org/wiki/Q1107019","display_name":"Cognitive load","level":3,"score":0.3727000057697296},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.36390000581741333},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3400000035762787},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.310699999332428},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30000001192092896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2980000078678131},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.289900004863739},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.2694999873638153},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.2563000023365021}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3785141","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3785141","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1844273643","https://openalex.org/W1950970151","https://openalex.org/W1979842566","https://openalex.org/W1985062867","https://openalex.org/W1992967865","https://openalex.org/W2044754442","https://openalex.org/W2089722339","https://openalex.org/W2110795172","https://openalex.org/W2116296877","https://openalex.org/W2169900819","https://openalex.org/W2282481780","https://openalex.org/W2346286924","https://openalex.org/W2551865091","https://openalex.org/W2592391419","https://openalex.org/W2808405904","https://openalex.org/W2914029293","https://openalex.org/W2961649484","https://openalex.org/W3017863658","https://openalex.org/W3019814707","https://openalex.org/W3037767967","https://openalex.org/W3129900808","https://openalex.org/W3134939669","https://openalex.org/W3138725015","https://openalex.org/W3154829718","https://openalex.org/W3160773357","https://openalex.org/W4220844735","https://openalex.org/W4220961636","https://openalex.org/W4283311522","https://openalex.org/W4292965202","https://openalex.org/W4317424970","https://openalex.org/W4384159599","https://openalex.org/W4387664657"],"related_works":[],"abstract_inverted_index":{"Robot":[0],"teleoperation":[1,26,143,261],"has":[2],"become":[3],"increasingly":[4],"crucial":[5],"for":[6,90,259],"extending":[7],"human":[8],"capabilities":[9],"in":[10,25,80,171,246,279],"inaccessible":[11],"or":[12,59,251],"hazardous":[13],"environments":[14],"and":[15,42,83,123,148,163,208,215,236,267,276],"facilitating":[16],"human\u2013robot":[17],"collaboration.":[18],"While":[19],"significant":[20],"advancements":[21],"have":[22],"been":[23],"made":[24],"interfaces,":[27],"the":[28,85,161,168,181,205,219,269],"success":[29,187,249],"of":[30,87,271],"these":[31,95],"systems":[32,45],"critically":[33],"depends":[34],"on":[35,113,154,264],"how":[36],"effectively":[37],"humans":[38],"can":[39,76],"interact":[40],"with":[41,230],"control":[43,116],"robotic":[44],"across":[46,64,175,195],"diverse":[47],"manipulation":[48,66,110],"tasks.":[49],"However,":[50],"existing":[51],"research":[52],"primarily":[53],"evaluates":[54],"interfaces":[55,144,262],"within":[56],"specific":[57],"tasks":[58,111],"applications,":[60],"lacking":[61],"systematic":[62],"assessment":[63],"different":[65],"scenarios.":[67],"This":[68],"limitation":[69],"leads":[70],"to":[71,204,218],"suboptimal":[72],"interface":[73,232,280],"selection":[74],"that":[75,107,160,226],"compromise":[77],"task":[78,172,177,248,265],"efficiency":[79],"critical":[81],"domains":[82],"impede":[84],"collection":[86],"high-quality":[88],"demonstrations":[89],"robot":[91],"learning.":[92],"To":[93],"address":[94],"gaps,":[96],"we":[97],"first":[98],"introduce":[99],"a":[100,133],"novel":[101],"two-axis":[102],"Robotic":[103],"Manipulation":[104],"Task":[105,198],"Taxonomy":[106],"systematically":[108],"categorizes":[109],"based":[112,153,263],"their":[114],"fundamental":[115],"requirements:":[117],"Motion":[118],"Type":[119,125],"(translation-dominant":[120],"vs.":[121,127],"rotation-dominant)":[122],"Engagement":[124],"(rigid":[126],"non-rigid":[128],"object":[129],"interactions).":[130],"We":[131],"conducted":[132],"comprehensive":[134],"user":[135,277],"study":[136],"(":[137],"\\(n=30\\)":[138],")":[139],"evaluating":[140],"three":[141],"distinct":[142],"(Gamepad,":[145],"3D":[146,164,220],"Mouse,":[147],"Virtual":[149],"Reality":[150],"(VR)":[151],"Controller)":[152],"this":[155],"taxonomy.":[156],"Our":[157,222],"results":[158,223],"indicate":[159,225],"Gamepad":[162,206],"mouse":[165],"significantly":[166,191],"outperformed":[167],"VR":[169,182],"Controller":[170,183],"completion":[173,252],"time":[174],"all":[176,196],"categories.":[178],"In":[179],"contrast,":[180],"showed":[184],"higher":[185,210],"first-attempt":[186],"rates":[188,250],"but":[189],"caused":[190],"greater":[192],"cognitive":[193,274],"load":[194],"NASA":[197],"Load":[199],"Index":[200],"(NASA-TLX)":[201],"subscales":[202],"compared":[203,217],"interface,":[207],"specifically":[209],"mental":[211],"demand,":[212,214],"physical":[213],"effort":[216],"mouse.":[221],"also":[224],"although":[227],"prior":[228],"familiarity":[229],"an":[231],"lowered":[233],"perceived":[234,238],"workload":[235],"enhanced":[237],"performance,":[239],"it":[240],"did":[241],"not":[242],"translate":[243],"into":[244],"improvements":[245],"actual":[247],"times.":[253],"These":[254],"insights":[255],"provide":[256],"valuable":[257],"guidelines":[258],"optimizing":[260],"requirements":[266],"highlight":[268],"importance":[270],"considering":[272],"both":[273],"demands":[275],"experience":[278],"design.":[281]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-12-15T00:00:00"}
