Alex van den Berg ^1,2* Jelle Hofland ² Cock J M Heemskerk ² David Abbink ¹ Luka Peternel ^1*

• ¹ Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands
• ² Heemskerk Innovative Technology B.V., Delft, Netherlands

In recent years, providing additional visual feedback about the interaction forces has been found to offer benefits to haptic-assisted teleoperation. However, there is limited insight into the effects of the design of force feedback-related visual cues and the type of visual display on the performance of teleoperation of robotic arms executing industrial tasks. In this study, we provide new insights into this interaction by extending these findings to the haptic assistance teleoperation of a simulated robotic arm in a virtual environment, in which the haptic assistance is comprised of a set of virtual fixtures. We design a novel method for providing visual cues about the interaction forces to complement the haptic assistance and augment visual feedback in virtual reality with a head-mounted display. We evaluate the visual cues method and head-mounted display method through human factors experiments in a teleoperated dross removal use case. The results show that both methods are beneficial for task performance, each of them having stronger points in different aspects of the operation. The visual cues method was found to significantly improve safety in terms of peak collision force, whereas the head-mounted display additionally improves the performance significantly. Furthermore, positive scores of the subjective analysis indicate an increased user acceptance of both methods. This work provides a new study on the importance of visual feedback related to (interaction) forces and spatial information for haptic assistance and provides two methods to take advantage of its potential benefits in the teleoperation of robotic arms.