ORCID

Abstract

Despite significant advances in teleoperated systems, optimal human performance remains a challenging task due to one key aspect, i.e. reduced situational awareness. Active telepresence is one of the major contributing factors affecting operator’s situational awareness. Providing the user with multiple perspectives of the remote environment can be very beneficial, although it may also introduce challenges in maintaining effective control. Prior work has largely examined discrete manipulation tasks using single-modality assessments, whereas this study applies a multimodal neuroergonomic approach to a continuous precision-cutting task, providing first insights into control–view alignment and multi-camera perception effects. In this work, we focus on two interaction and interface design factors: (a) control interaction factor, where we compare the effects of fixed and camera view-aligned control user interfaces on task-performance; (b) perception interface factor: the impact of different visual feedback configurations on operator attention and workload state, and interaction with the interface. A telerobotic system focused on a cutting task is chosen for this evaluation as it demands precision, depth perception, and also continuous feedback. A multimodal bio-sensor network is used to record operator-centric data, i.e Eye-tracking pupil measures, gaze measures and EEG signals, and assess the proposed interfaces using a neuroergonomics framework. User-study results show that using a view-aligned control frame in a multi-camera interface significantly improves cutting quality compared to using a fixed control frame, while the display of multiple camera perspectives in the same window is preferred to a single camera per window, promoting operator visual attention with no significant impact on the mental workload.

Keywords

Human-centered design, Human-machine interaction, Human-machine interface, Teleoperation

Publication Date

2026-01-01

Publication Title

Journal of Intelligent and Robotic Systems: Theory and Applications

Volume

112

Issue

2

ISSN

0921-0296

Deposit Date

2026-05-13

Funding

Open access funding provided by Università degli Studi di Milano - Bicocca within the CRUI-CARE Agreement. This work was supported by the European Union’s Horizon 2020 Research and Innovation Programme under the CISC project (Marie Skłodowska-Curie grant agreement no. 955901), the FineTETHER project (Marie Skłodowska-Curie grant agreement no. 847402), and national capital grant funding program Enterprise Ireland (CE-2020-0221). The work was partially supported by the MUSA-Multilayered Urban Sustainability Action project, funded by the European Union-NextGenerationEU, under the Mission 4 Component 2 Investment Line of the National Recovery and Resilience Plan (NRRP) Mission 4 Component 2 Investment Line 1.5: Strengthening of research structures and creation of R&D “innovation ecosystems”, set up of “territorial leaders in R&D” (CUP G43C22001370007, Code ECS00000037); Program “piano sostegno alla ricerca” PSR and the PSR-GSA-Linea 6; Project ReGAInS (code 2023-NAZ-0207/DIP-ECC-DISCO23), funded by the Italian University and Research Ministry, within the Excellence Departments program 2023-2027 (law 232/2016); and-FAIR-Future Artificial Intelligence Research-Spoke 4-PE00000013-D53C22002380006, funded by the European Union-Next Generation EU within the project NRPP M4C2, Investment 1., 3 DD. 341, 15 March 2022.

Creative Commons License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

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