Intention-reflected predictive display for operability improvement of time-delayed teleoperation system

Abstract Robotic teleoperation is highly valued for its ability to remotely execute tasks that demand sophisticated human decision-making or are intended be carried out by operators from a distance. However, when using the internet as communication framework teleoperation, high latency, and fluctuations make accurate positioning time-dependent difficult. To mitigate negative effects of time delay, this paper proposes system uses cross reality (XR) predictive display outcome operators’ actions develops time-delay aware shared control fulfill intention. The targets liquid pouring task, wherein white ring indicates height surface overlayed onto beaker in delayed camera image close visual feedback loop on leader side. Simultaneously, automatically completes action track height. performance proposed validated based experiments performed subjects. When compared with direct control, absolute error rate decreased significantly constant round-trip delay 0.8 s 1.2 s, similarly time-varying 0.4 s. Moreover, was achieved higher accuracy while maintaining comparable operation time. These results indicate our improves operability even presence delays networks.