| Teleoperation is a form of operation that remotely controls a robot or system to complete a given task.In the extreme environment that human beings can not work efficiently,teleoperation can effectively assist human beings to complete the task safely.Research had shown that latency is the inherent technical feature of teleoperation,which can not be completely eliminated at present,and it will have a significant negative impact on the performance of teleoperation.On the other hand,the work space limitation of teleoperation will affect the accuracy.Previous studies have also shown that personality would affect the performance of teleoperation.Therefore,this paper studied the influence of latency and track clearance on teleoperation performance,and took into account the influence of human spatio-temporal cognitive ability(temporal sensitivity,spatial cognitive ability)and personality traits as mpderator on teleoperation performance.First,through literature research,we summarized the characteristics,application fields and performance influencing factors of teleoperation tasks,and the effects of latency,confined space,temporal sensitivity,mental rotation speed and personality on teleoperation performance.Then,an experiment of 6(delay)× 4(clearance)was designed.The latency was0,0.2,0.4,0.6,0.8 and 1s,and the clearance was 0.9,0.72,0.54 and 0.36 m.The control variables were map(3 types)and number of experimental trails.Based on the teleoperation form of machine vehicle,a virtual experiment platform was built,and 72 experimental scenes with different latency and clearance were set up.Using the task allocation method of Scholcover and Gillan(2021),72 scenes were divided into 6 groups(12 scenes in each group,including the balanced combination of three kinds of maps,6 kinds of laency and 4 kinds of clearance).96 participants were recruited and divided into 6 groups to complete 12 scenes in random order,and the rover was operated to complete the teleoperation task of the specified route.The temporal sensitivity index,mental rotation speed,personality trait score,collision times,completion time,distance and workload of teleoperation were collected.Finally,the hierarchical linear model(HLM)was used to analyze the experimental data.The results are as follows:(1)The influence of latency and clearance on teleoperation performance.Results showed that the increase of latency can significantly deteriorate the teleoperation performance,increase the number of collisions,completion time,driving distance and workload(p < 0.001).The increase of clearance can significantly improve the teleoperation performance,reduce the number of collisions,completion time,driving distance and workload(p < 0.001).And the clearance had interection with latency on teleoperation performance.Under the condition of wide clearance,the number of collisions increases less with the increase of latcncy(p <0.001),and the completion time increases less with the increase of latency(p < 0.001).The driving distance increases greatly with the increase of latency(p < 0.001).(2)The influence of temporal sensitivity on teleoperationperformance.Results show that temporal sensitivity had a significant main effect on the collision times of teleoperation,and the stronger the temporal sensitivity was,the less the collision times were(p < 0.01).Meanwhile,there was a two-way interaction between temporal sensitivity and latency and clearance,respectively.For individuals with strong temporal sensitivity,the number of collisions increases less with the increase of latency(p < 0.01),and the distance increases less with the increase of latency(p < 0.05).The completion time decreases greatly with the increase of clearance(p < 0.01).In addition,there are three-way interaction effects on temporal sensitivity,latency and clearance.For individuals with strong temporal sensitivity,the workload increased less with the increase of latency in wider roads(p < 0.05).This shows that there may be a mechanism of mutual transformation and interdependence in the process of human information processing.(3)The influence of mental rotation speed on the performance of teleoperation.The results show that the mental rotation speed has a significant main effect on the collision times of teleoperation.The faster the psychological rotation speed is,the less the collision times are(p < 0.01),and the shorter the driving distance is(p < 0.01).At the same time,there is a second-order interaction between mental rotation speed and time delay and road width,respectively.For individuals with high speed of mental rotation,the number of collisions increases less with the increase of time delay(p < 0.01),and the driving distance increases less with the increase of time delay(p < 0.01).The number of collisions decreased with the increase of road width(p < 0.01).In addition,there are third-order interaction effects on mental rotation speed,time delay and road width.For individuals with high speed of mental rotation,in a wide road,the completion time increased less with the increase of time delay(p< 0.05).This also shows that there may be a mechanism of mutual transformation and interdependence in the process of human information processing.(4)The influence of personality traits on the performance of teleoperation.The results showed that personality traits have two-way interaction effects with time delay and road width,respectively.For the individuals with high extroversion scores,the workload decreased significantly with the increase of road width(p < 0.05).In addition,there is a third-order interaction between personality traits and time delay and road width.For the individuals with high extroversion score,under the condition of larger road width,the number of collisions decreases less with the increase of time delay(p < 0.05).For the individuals with high score of neuroticism,under the condition of larger road width,the number of collisions decreased with the increase of time delay(p < 0.01).The results of this study showed that individual temporal sensitivity,spatial cognitive ability and personality traits can adjust the influence of latency and confined space on teleoperation performance.Temporal and spatial cognitive ability may replace each other in human information processing(such as "spatial for temporal").The research results can provide theoretical reference for the selection and training of teleoperators. |
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