Influence of User Profiles on Usability Perception in Virtual Reality-Based Robotic Teleoperation
Resumo
This study investigates how diverse user profiles, particularly variations in field of work, education level, and prior experience with virtual reality (VR), influence the subjective evaluation of a robotic teleoperation system in immersive environments. A total of 39 participants with diverse professional and educational backgrounds interacted with a robotic system in VR using a Meta Quest 3 headset. Their perceptions were collected through a structured questionnaire addressing usability, comfort, immersion, and symptoms of cybersickness. The analysis revealed that participants without prior VR experience tended to provide uniformly positive evaluations, while those with technical backgrounds, especially in engineering, expressed more critical and varied feedback. Educational attainment also played a role, with higher levels associated with a more analytical perspective. These findings suggest that user profile significantly impacts the depth and nature of usability assessments in immersive systems. Consequently, aligning participant selection with the system’s target audience is essential for obtaining meaningful insights, especially in early-stage evaluations or when aiming for technical refinement.
Palavras-chave:
Teleoperation, Virtual Reality, User Experience, Human–Robot Interaction
Referências
Z. Li, Y. Luo, J. Wang, Y. Pan, L. Yu, and H.-N. Liang. Feasibility and performance enhancement of collaborative control of unmanned ground vehicles via virtual reality. Personal and Ubiquitous Computing, 28(3):579–595, 2024.
H. Stedman, B. B. Kocer, N. Van Zalk, M. Kovac, and V. M. Pawar. Evaluating immersive teleoperation interfaces Coordinating robot radiation monitoring tasks in nuclear facilities. In 2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 11972–11978, 2023.
K. A. Szczurek, R. M. Prades, E. Matheson, J. Rodriguez-Nogueira, and M. Di Castro. Multimodal multi-user mixed reality human–robot interface for remote operations in hazardous environments. IEEE Access, 11:17305–17333, 2023.
L. Saunier, N. Hoffmann, M. Preda, and C. Fetita. Virtual reality interface evaluation for earthwork teleoperation. Electronics, 12(19):4151, 2023.
S. Franco dos Reis Alves, A. Uribe Quevedo, D. Chen, J. Morris, and S. Radmard. Leveraging simulation and virtual reality for a long term care facility service robot during COVID-19. In Proceedings of the 23rd Symposium on Virtual and Augmented Reality, 187–191, 2021.
C. Cruz Ulloa, D. Dominguez, J. Del Cerro, and A. Barrientos. A mixed-reality tele-operation method for high-level control of a legged-manipulator robot. Sensors, 22(21):8146, 2022.
T. Sheridan. Teleoperation, telerobotics and telepresence A progress report. Control Engineering Practice, 3(2):205–214, 1995.
G. LeMasurier, J. Tukpah, M. Wonsick, J. Allspaw, B. Hertel, J. Epstein, R. Azadeh, T. Padir, H. A. Yanco, and E. Phillips. Comparing a 2D keyboard and mouse interface to virtual reality for human-in-the-loop robot planning for mobile manipulation. In 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), IEEE, 2197–2203, 2024.
C.-Y. Kuo, C.-C. Huang, C.-H. Tsai, Y.-S. Shi, and S. Smith. Development of an immersive SLAM-based VR system for teleoperation of a mobile manipulator in an unknown environment. Computers in Industry, 132:103502, 2021.
D. Scholl, J. Meier, and M. Reke. VR-enhanced teleoperation system for a semi-autonomous multiplatform all-terrain exploration vehicle. In International Conference on Human-Computer Interaction, Springer, 268–285, 2024.
A. Elor, T. Thang, B. P. Hughes, A. Crosby, A. Phung, E. Gonzalez, K. Katija, S. H. Haddock, E. J. Martin, B. E. Erwin et al. Catching jellies in immersive virtual reality A comparative teleoperation study of ROVs in underwater capture tasks. In Proceedings of the 27th ACM Symposium on Virtual Reality Software and Technology, 1–10, 2021.
M. Wonsick and T. Padir. A systematic review of virtual reality interfaces for controlling and interacting with robots. Applied Sciences, 10(24):9051, 2020.
A. Joshi, S. Kale, S. Chandel, and D. K. Pal. Likert scale Explored and explained. British Journal of Applied Science & Technology, 7(4):396, 2015.
J. J. LaViola Jr. A discussion of cybersickness in virtual environments. ACM Sigchi Bulletin, 32(1):47–56, 2000.
Y. Yokokohji and T. Yoshikawa. Bilateral control of master-slave manipulators for ideal kinesthetic coupling Formulation and experiment. IEEE Transactions on Robotics and Automation, 10(5):605–620, 1994.
S. Honda, T. Kato, H. Masuda, and I. Jullakarn. Teleoperation of a master–slave pneumatic robot arm system over the internet Consideration of delay between Oregon and Fukuoka. In Information Technology Convergence Security, Robotics, Automations and Communication, Springer, 1011–1018, 2013.
J. Pirker, E. Loria, S. Safikhani, A. Kunz, and S. Rosmann. Immersive virtual reality for virtual and digital twins A literature review to identify state of the art and perspectives. In 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), IEEE, 114–115, 2022.
ROS Wiki Contributors. Ros-Industrial - ROS Wiki. 2024. Available [link]
MoveIt. MoveIt Official Website. Available [link], accessed 2024-09-17.
U. Technologies. Unity Robotics Hub. Available [link], accessed 2024-09-17.
P. Stotko, S. Krumpen, M. Schwarz, C. Lenz, S. Behnke, R. Klein, and M. Weinmann. A VR system for immersive teleoperation and live exploration with a mobile robot. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 3630–3637, 2019.
R. P. McMahan, D. A. Bowman, D. J. Zielinski, and R. B. Brady. Evaluating display fidelity and interaction fidelity in a virtual reality game. IEEE Transactions on Visualization and Computer Graphics, 18(4):626–633, 2012.
S. Arlati, D. Spoladore, D. Baldassini, M. Sacco, and L. Greci. VirtualCruiseTour An AR/VR application to promote shore excursions on cruise ships. In Augmented Reality, Virtual Reality, and Computer Graphics 5th International Conference AVR 2018, Otranto, Italy, Proceedings, Part I 5, Springer, 133–147, 2018.
M. Mondellini, S. Arlati, H. Gapeyeva, K. Lees, I. Maritz, S. L. Pizzagalli, T. Otto, M. Sacco, and A. Teder-Braschinsky. User experience during an immersive virtual reality-based cognitive task A comparison between Estonian and Italian older adults with MCI. Sensors, 22(21):8249, 2022.
M. C. Whitton. Making virtual environments compelling. Communications of the ACM, 46(7):40–47, 2003.
M. Aros, C. L. Tyger, and B. S. Chaparro. Unraveling the Meta Quest 3 An out-of-box experience of the future of mixed reality headsets. In International Conference on Human-Computer Interaction, Springer, 3–8, 2024.
H. Kim, D. J. Kim, W. H. Chung, K.-A. Park, J. D. Kim, D. Kim, K. Kim, and H. J. Jeon. Clinical predictors of cybersickness in virtual reality (VR) among highly stressed people. Scientific Reports, 11(1):12139, 2021.
H. Oh and W. Son. Cybersickness and its severity arising from virtual reality content A comprehensive study. Sensors, 22(4):1314, 2022.
T. Porcino, D. Reilly, E. Clua, and D. Trevisan. A guideline proposal for minimizing cybersickness in VR-based serious games and applications. In 2022 IEEE 10th International Conference on Serious Games and Applications for Health (SeGAH), IEEE, 1–8, 2022.
H. Stedman, B. B. Kocer, N. Van Zalk, M. Kovac, and V. M. Pawar. Evaluating immersive teleoperation interfaces Coordinating robot radiation monitoring tasks in nuclear facilities. In 2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 11972–11978, 2023.
K. A. Szczurek, R. M. Prades, E. Matheson, J. Rodriguez-Nogueira, and M. Di Castro. Multimodal multi-user mixed reality human–robot interface for remote operations in hazardous environments. IEEE Access, 11:17305–17333, 2023.
L. Saunier, N. Hoffmann, M. Preda, and C. Fetita. Virtual reality interface evaluation for earthwork teleoperation. Electronics, 12(19):4151, 2023.
S. Franco dos Reis Alves, A. Uribe Quevedo, D. Chen, J. Morris, and S. Radmard. Leveraging simulation and virtual reality for a long term care facility service robot during COVID-19. In Proceedings of the 23rd Symposium on Virtual and Augmented Reality, 187–191, 2021.
C. Cruz Ulloa, D. Dominguez, J. Del Cerro, and A. Barrientos. A mixed-reality tele-operation method for high-level control of a legged-manipulator robot. Sensors, 22(21):8146, 2022.
T. Sheridan. Teleoperation, telerobotics and telepresence A progress report. Control Engineering Practice, 3(2):205–214, 1995.
G. LeMasurier, J. Tukpah, M. Wonsick, J. Allspaw, B. Hertel, J. Epstein, R. Azadeh, T. Padir, H. A. Yanco, and E. Phillips. Comparing a 2D keyboard and mouse interface to virtual reality for human-in-the-loop robot planning for mobile manipulation. In 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), IEEE, 2197–2203, 2024.
C.-Y. Kuo, C.-C. Huang, C.-H. Tsai, Y.-S. Shi, and S. Smith. Development of an immersive SLAM-based VR system for teleoperation of a mobile manipulator in an unknown environment. Computers in Industry, 132:103502, 2021.
D. Scholl, J. Meier, and M. Reke. VR-enhanced teleoperation system for a semi-autonomous multiplatform all-terrain exploration vehicle. In International Conference on Human-Computer Interaction, Springer, 268–285, 2024.
A. Elor, T. Thang, B. P. Hughes, A. Crosby, A. Phung, E. Gonzalez, K. Katija, S. H. Haddock, E. J. Martin, B. E. Erwin et al. Catching jellies in immersive virtual reality A comparative teleoperation study of ROVs in underwater capture tasks. In Proceedings of the 27th ACM Symposium on Virtual Reality Software and Technology, 1–10, 2021.
M. Wonsick and T. Padir. A systematic review of virtual reality interfaces for controlling and interacting with robots. Applied Sciences, 10(24):9051, 2020.
A. Joshi, S. Kale, S. Chandel, and D. K. Pal. Likert scale Explored and explained. British Journal of Applied Science & Technology, 7(4):396, 2015.
J. J. LaViola Jr. A discussion of cybersickness in virtual environments. ACM Sigchi Bulletin, 32(1):47–56, 2000.
Y. Yokokohji and T. Yoshikawa. Bilateral control of master-slave manipulators for ideal kinesthetic coupling Formulation and experiment. IEEE Transactions on Robotics and Automation, 10(5):605–620, 1994.
S. Honda, T. Kato, H. Masuda, and I. Jullakarn. Teleoperation of a master–slave pneumatic robot arm system over the internet Consideration of delay between Oregon and Fukuoka. In Information Technology Convergence Security, Robotics, Automations and Communication, Springer, 1011–1018, 2013.
J. Pirker, E. Loria, S. Safikhani, A. Kunz, and S. Rosmann. Immersive virtual reality for virtual and digital twins A literature review to identify state of the art and perspectives. In 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), IEEE, 114–115, 2022.
ROS Wiki Contributors. Ros-Industrial - ROS Wiki. 2024. Available [link]
MoveIt. MoveIt Official Website. Available [link], accessed 2024-09-17.
U. Technologies. Unity Robotics Hub. Available [link], accessed 2024-09-17.
P. Stotko, S. Krumpen, M. Schwarz, C. Lenz, S. Behnke, R. Klein, and M. Weinmann. A VR system for immersive teleoperation and live exploration with a mobile robot. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 3630–3637, 2019.
R. P. McMahan, D. A. Bowman, D. J. Zielinski, and R. B. Brady. Evaluating display fidelity and interaction fidelity in a virtual reality game. IEEE Transactions on Visualization and Computer Graphics, 18(4):626–633, 2012.
S. Arlati, D. Spoladore, D. Baldassini, M. Sacco, and L. Greci. VirtualCruiseTour An AR/VR application to promote shore excursions on cruise ships. In Augmented Reality, Virtual Reality, and Computer Graphics 5th International Conference AVR 2018, Otranto, Italy, Proceedings, Part I 5, Springer, 133–147, 2018.
M. Mondellini, S. Arlati, H. Gapeyeva, K. Lees, I. Maritz, S. L. Pizzagalli, T. Otto, M. Sacco, and A. Teder-Braschinsky. User experience during an immersive virtual reality-based cognitive task A comparison between Estonian and Italian older adults with MCI. Sensors, 22(21):8249, 2022.
M. C. Whitton. Making virtual environments compelling. Communications of the ACM, 46(7):40–47, 2003.
M. Aros, C. L. Tyger, and B. S. Chaparro. Unraveling the Meta Quest 3 An out-of-box experience of the future of mixed reality headsets. In International Conference on Human-Computer Interaction, Springer, 3–8, 2024.
H. Kim, D. J. Kim, W. H. Chung, K.-A. Park, J. D. Kim, D. Kim, K. Kim, and H. J. Jeon. Clinical predictors of cybersickness in virtual reality (VR) among highly stressed people. Scientific Reports, 11(1):12139, 2021.
H. Oh and W. Son. Cybersickness and its severity arising from virtual reality content A comprehensive study. Sensors, 22(4):1314, 2022.
T. Porcino, D. Reilly, E. Clua, and D. Trevisan. A guideline proposal for minimizing cybersickness in VR-based serious games and applications. In 2022 IEEE 10th International Conference on Serious Games and Applications for Health (SeGAH), IEEE, 1–8, 2022.
Publicado
30/09/2025
Como Citar
HERNANDEZ, Matheus Nicolás; DE MIRANDA, Nathália C.; DOMINGUES, Brenno H. R.; NEGRI, Doglas; DE SOUZA, Diego; SECCO, Ismael; TRABASSO, Luís Gonzaga; SIMONI, Roberto.
Influence of User Profiles on Usability Perception in Virtual Reality-Based Robotic Teleoperation. In: SIMPÓSIO DE REALIDADE VIRTUAL E AUMENTADA (SVR), 27. , 2025, Salvador/BA.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2025
.
p. 227-235.
