Investigating the Effect of Spatial AR Linear Visual Cues on Positioning and Alignment in Teleoperated Robotic Manipulation

Teleoperation is critical for lunar maintenance, yet limited visual feedback often impairs depth perception and precise robotic control. This study quantitatively evaluates three Augmented Reality (AR) guidance schemes (fundamental Vertical-Extension and Connection primitives, alongside our newly proposed Combined Lines) against a control baseline during 6-DOF robotic arm insertion tasks within a high-fidelity VR simulation. Both objective performance metrics and subjective workload were analyzed. Results demonstrate that AR conditions generally outperformed the baseline, drastically reducing spatial errors and failure rates. Among successfully completed trials, the proposed Combined Lines condition showed advantages in alignment accuracy while yielding the lowest cognitive load. Notably, these advantages varied with the maintenance-panel angle, with clearer alignment advantages for Combined Lines at 45° and 135°. These findings offer empirical guidelines for designing user-centered AR interfaces to enhance spatial awareness and operational safety in constrained remote environments.