Exploring Factors Influencing Cybersickness and Workload in VR Robot Teleoperation Systems under Spatial and Temporal Noise

Robot remote control systems proposed for society have included approaches that utilize VR equipment, but concerns related to cybersickness still persist. In this paper, we develop a robot remote control VR simulation system that implements spatial and temporal noises, robot vibration during moving, and network connection lag-induced delays and stalls. Using this system, we investigated factors influencing the onset of cybersickness and operational workload during remote control. The experimental results suggest that communication lag may influence the onset of cybersickness. It is considered that the unpredictable nature of stalls prevents user adapta- tion. Regarding workload, individual spatial or temporal noise had little effect. On the other hand, a combination of robot oscillation and communication lag led to a stronger perception of workload, suggesting that the interaction of these factors increases the operational burden. Designing a human-friendly control interface of a teleoperation mobile robot by using these insights is our future project.