On the Systematic Design Framework for Intuitive Interfaces in Telerobotic Operations: A Case Study in Surgical Robotics

This paper proposes a design framework for intuitive interfaces in telerobotic operation, moving beyond outcome-based evaluation toward systematic interface design. A human-centered framework is introduced to guide interface strategy selection based on learning dynamics and to support implementation-level design decisions through analysis of human sensorimotor interaction. As a case study, the framework is instantiated through an embodiment-oriented index finger interface for controlling a distally bendable surgical instrument with unconventional kinematics. A telerobotic system was implemented, and the finger interface was compared with a familiarity-driven stylus interface in a dual-session human-subject study consisting of a training session and a retention session two weeks later. Results reveal a distinction between initial and later-stage interaction characteristics. While the stylus interface exhibited higher initial performance, the finger interface showed faster learning progression and achieved higher performance after learning stabilized. These findings suggest that embodiment-oriented interface design can support intuitive control by facilitating sensorimotor adaptation beyond immediate familiarity. Although evaluated in a surgical context, the proposed framework is applicable to the design of teleoperation interfaces for robotic systems with unconventional kinematics in broader domains.