Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot controller to assist the human in executing such challenging tasks, a comprehensive understanding of the interplay between the robot's autonomous behavior and the operator's internal state is essential. In this paper, we investigate the relationships between robot autonomy and both the human user's cognitive load and trust levels, and the potential existence of three-way interactions in the robot-assisted execution of the task. Our user study (N=24) results indicate that while the autonomy level influences the teleoperator's perceived cognitive load and trust, there is no clear interaction between these factors. Instead, these elements appear to operate independently, thus highlighting the need to consider both cognitive load and trust as distinct but interrelated factors in varying the robot autonomy level in shared-control settings. This insight is crucial for the development of more effective and adaptable assistive robotic systems.

翻译：遥操作日益被视为在危险环境中部署机器人的可行解决方案。控制机器人执行复杂或高要求任务可能导致操作员认知超载，进而影响任务表现。为设计辅助人类执行此类挑战性任务的机器人控制器，必须全面理解机器人自主行为与操作员内部状态之间的相互作用。本文研究了机器人自主性与人类用户的认知负荷及信任水平之间的关系，并探讨了在机器人辅助执行任务过程中三者间潜在的三向交互作用。我们的用户研究（N=24）结果表明：虽然自主性水平会影响遥操作员的感知认知负荷与信任度，但这些因素之间并未发现明确的交互作用。相反，这些要素似乎独立发挥作用，这凸显了在共享控制环境中调节机器人自主性水平时，需将认知负荷与信任度视为既相互区别又彼此关联的独立因素进行考量。这一发现对于开发更高效、适应性更强的辅助机器人系统具有重要意义。