Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these interfaces and the capabilities afforded by direct human-guided robot control. This gap is further exacerbated when users are inexperienced or unfamiliar with the robotic platform or control interface. In this work, we aim to better characterize this performance gap for non-expert users by comparing two teleoperation approaches, SpaceMouse teleoperation and a Mixed Reality (MR) interface, against kinesthetic teaching as a non-teleoperation baseline. All three approaches were evaluated in a comprehensive user study involving two robotic platforms and six complex manipulation tasks. Quantitative results show that the SpaceMouse and MR interfaces performed comparably, with significant differences in task completion observed for only two tasks, and success rates declining as task complexity increased. Qualitative analysis reflected these trends, highlighting differences in Physical Demand and identifying interface attributes that influence users' ability to perform, learn, and understand. This study quantifies the limitations of current teleoperation methods and incorporates subjective feedback from 25 participants. The results highlight the critical need to design and rigorously evaluate teleoperation systems for non-expert users, particularly in contexts where autonomous robots are deployed in personal or everyday environments, to ensure usability, efficiency, and accessibility.

翻译：遥操作界面是实现人类控制机器人系统的关键工具。尽管已开发出多种界面，但人类通过这些界面所能达到的性能水平与直接人工引导机器人控制所提供的能力之间仍存在持续差距。当用户对机器人平台或控制界面缺乏经验或不熟悉时，这种差距会进一步加剧。本研究通过比较两种遥操作方法（SpaceMouse遥操作与混合现实界面）并以动觉示教作为非遥操作基线，旨在更准确地描述非专业用户的这种性能差距。我们在包含两个机器人平台和六项复杂操作任务的综合用户研究中评估了所有三种方法。定量结果表明，SpaceMouse与混合现实界面表现相当，仅在两项任务中观察到任务完成度的显著差异，且成功率随任务复杂度增加而下降。定性分析反映了这些趋势，突出了物理需求方面的差异，并识别出影响用户执行、学习和理解能力的界面属性。本研究量化了当前遥操作方法的局限性，并整合了25名参与者的主观反馈。结果强调，在自主机器人部署于个人或日常环境的应用场景中，为保障可用性、效率与可访问性，必须为非专业用户设计并严格评估遥操作系统。