Comparing Intuitive Virtual Reality Control with Screen-based Control for Response Robots with a Manipulator

This paper investigates the benefits of immersive and intuitive 3D virtual reality (VR) control versus conventional 2D screen-based control for teleoperating a mobile manipulator in hazardous scenarios. We implemented two functionally similar control methods on a ruggedized response robot: (1) a mouse-driven 2D GUI with multiple live video streams and a 2D projection of environment and robot, and (2) a Godot-based walkable VR environment operated with a commercial VR headset, featuring an interactive digital twin and overlaid sensor data. In a within-subjects experiment with nine participants (with robot control experience) performing inspection and manipulation tasks, we measured objective performance (time on task, accuracy) and subjective responses with standardized questionnaires (SSQ, SEQ, ASQ, UMUX, NASA-TLX). Both control methods were well suited for the given tasks, but participants predominantly preferred the VR control. Without inducing excessive simulator sickness, VR control yielded statistically significant 12% faster task completion, 45% lower mental workload, and higher usability ratings. These results demonstrate that intuitive VR interfaces can enhance expert operators’ performance and the usability of response robots with a manipulator in time-critical scenarios.