Design parameters for rendezvous and docking (RVD) teleoperation: effects of operation sensitivity, time delay and deviation tolerance

Human performance in rendezvous and docking (RVD) tasks is critical for space missions, where human operators must maintain both efficiency and precision under constrained feedback conditions. Despite its operational importance, the effects of system parameters on RVD teleoperation remain insufficiently quantified. This study investigated how operation sensitivity, time delay and deviation tolerance affect performance and operators' physiological responses in RVD tasks. Thirty-six participants completed an RVD teleoperation task in a simulator, during which we recorded performance, behavioural and physiological measures. Results showed that reducing time delay improved docking speed, translational and angular efficiency, and reduced control inputs, error rate and visual attention. Tighter deviation tolerance reduced translational and angular deviation. Increasing operation sensitivity accelerated task execution but was accompanied by more control inputs, higher error rate and higher visual attention, elevated workload, and stress level. These findings provide empirical guidance for configuring teleoperation systems considering efficiency, controllability and operator workload.