Improving Teleoperator Efficiency Using Position–Rate Hybrid Controllers and Task Decomposition

In hazardous environments where direct human operation of machinery is not possible, such as in a nuclear power plant (NPP), teleoperation may be utilized to complete tasks safely. However, because are time consuming, complex, highly difficult, and need performed with incomplete information, they increase the operator’s cognitive load, which can affect efficiency operator well completeness task. this study, we propose system using hybrid controller that for specific complex sequences. First, decomposed task into sequence unit subtasks. For each subtask, input space was allocated, either position control or rate by determined. Teleoperation experiments were conducted verify controller. To evaluate improvement teleoperators, completion NASA task-load index (NASA-TLX) measured. Using reduced NASA-TLX score 17.23% 34.02%, respectively, compared conventional