Intuitive interaction is the cornerstone of accurate and effective performance in remote robotic teleoperation. It requires high-fidelity in control actions as well as perception (vision, haptic, and other sensory feedback) of the remote environment. This paper presents Vicarios, a Virtual Reality (VR) based interface with the aim of facilitating intuitive real-time remote teleoperation, while utilizing the inherent benefits of VR, including immersive visualization, freedom of user viewpoint selection, and fluidity of interaction through natural action interfaces. Vicarios aims to enhance the situational awareness, using the concept of viewpoint-independent mapping between the operator and the remote scene, thereby giving the operator better control in the perception-action loop. The article describes the overall system of Vicarios, with its software, hardware, and communication framework. A comparative user study quantifies the impact of the interface and its features, including immersion and instantaneous user viewpoint changes, termed “teleporting”, on users’ performance. The results show that users’ performance with the VR-based interface was either similar to or better than the baseline condition of traditional stereo video feedback, approving the realistic nature of the Vicarios interface. Furthermore, including the teleporting feature in VR significantly improved participants’ performance and their appreciation for it, which was evident in the post-questionnaire results. Vicarios capitalizes on the intuitiveness and flexibility of VR to improve accuracy in remote teleoperation.

直观的交互是远程机器人遥操作中准确有效的性能的基石。它要求控制动作具有高保真度，并且需要对远程环境的感知（视觉，触觉和其他感官反馈）。本文介绍了Vicarios（基于虚拟现实（VR）的界面），旨在促进直观的实时远程遥控操作，同时利用VR的固有优势，包括身临其境的可视化，自由的用户视点选择以及通过自然动作进行交互的流畅性接口。Vicarios旨在通过使用与视点无关的映射概念来增强态势感知在操作员和远程场景之间进行“定位”操作，从而使操作员可以更好地控制感知-动作循环。本文介绍了Vicarios的整个系统及其软件，硬件和通信框架。一项比较性的用户研究量化了界面及其功能（包括沉浸感和瞬时用户视点变化，称为“瞬移”）对用户性能的影响。结果表明，基于VR的界面的用户性能与传统立体声视频反馈的基准条件相似或更好，这证明了Vicarios的真实性。界面。此外，将虚拟现实中的远距传送功能包括在内，可以显着提高参与者的表现和对其的欣赏度，这在问卷调查后的结果中显而易见。Vicarios利用VR的直观性和灵活性来提高远程遥控操作的准确性。