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 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：遥控操作正逐渐被视为在危险环境中部署机器人的可行方案。控制机器人执行复杂或高要求的任务可能导致操作员过载，从而影响操作表现。为设计能够辅助人类完成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交互机制。本文探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，以及机器人辅助任务执行中可能存在的三因素交互作用。用户实验（N=24）结果表明，尽管自主性水平会影响遥控操作员的感知认知负荷与信任度，但这些因素之间并未呈现显著交互效应。相反，这些要素似乎独立运作，揭示了在共享控制场景中调整机器人自主性水平时，需将认知负荷与信任视为既相互独立又彼此关联的两个关键因素。这一发现对于开发更高效、更具适应性的辅助机器人系统具有重要指导意义。