In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental strain. Even with advanced technology, mitigating these delays, especially in long-distance operations, remains challenging. Current solutions largely focus on machine-based adjustments. Yet, there's a gap in using human perceptions to improve the teleoperation experience. This paper presents a unique method of sensory manipulation to help humans adapt to such delays. Drawing from motor learning principles, it suggests that modifying sensory stimuli can lessen the perception of these delays. Instead of introducing new skills, the approach uses existing motor coordination knowledge. The aim is to minimize the need for extensive training or complex automation. A study with 41 participants explored the effects of altered haptic cues in delayed teleoperations. These cues were sourced from advanced physics engines and robot sensors. Results highlighted benefits like reduced task time and improved perceptions of visual delays. Real-time haptic feedback significantly contributed to reduced mental strain and increased confidence. This research emphasizes human adaptation as a key element in robot teleoperation, advocating for improved teleoperation efficiency via swift human adaptation, rather than solely optimizing robots for delay adjustment.

翻译：在机器人领域，针对远程或危险环境的机器人遥操作已日益关键。其主要挑战在于指令与动作之间的延迟，对操作者态势感知、操作绩效及心理负荷产生负面影响。即便采用先进技术，缓解此类延迟（尤其在远距离操作中）仍具挑战性。当前解决方案主要集中于基于机器的调整，但在利用人类感知改善遥操作体验方面存在空白。本文提出一种独特的感官操纵方法，帮助人类适应此类延迟。基于运动学习原理，该方法主张通过修改感官刺激降低对延迟的感知。与引入新技能不同，该途径利用既有运动协调知识，旨在减少对大量训练或复杂自动化的需求。一项包含41名参与者的研究探讨了延迟遥操作中改变触觉线索的影响，这些线索源自先进物理引擎与机器人传感器。结果凸显其益处：任务耗时缩短、视觉延迟感知改善。实时触觉反馈显著降低心理负荷并提升操作者信心。本研究强调人类适应作为机器人遥操作的关键要素，主张通过人类快速适应提升遥操作效率，而非仅优化机器人来应对延迟。