Abstract: Space manipulator teleoperation system is a complex system of human-computer interaction. The presentation of visual information during the interaction will affect the efficiency of the operator in the performance of the teleoperation. To improve the human performance of space teleoperation such as space station robotic arm operation task, it is an important technical method to improve the operators telepresence．In order to improve operating performance in the information display interface of telepresence, focus-context technology was studied by many researchers. However, the presentation of focus-context technology is static, and lacks of consideration of the operator's operating characteristics and needs. This study combines the focus-context technology and the adaptive technology. It applies the new technology to the teleoperation display interface, and examines the effectiveness of the adaptive focus-context display technology by comparing the teleoperation performance under different display conditions. The current study consists of two parts. The first one describes the features of the adaptive focus-context display technology. The display of the adaptive focus-context display technology could be changed dynamically according to the different adaptive algorithm, as shown in Fig. 2. The second part is an empirical experiment. Those tests were developed in V-REP PRO by Lua. All sessions were run on a 1280×768 20-inch resolution monitor. The operating handle used during the experiment was two PXN-2113 handles connected over USB. The experiment was a single factor between-subjects design with 5 levels (display type: adaptive focus-context display, single correction information display, single guidance information display, single constant background information display, and no background information display). The dependent variables were operation time, two types of operating efficiency and operator’s evaluation of NASA-TXL. The NASA-TXL is six aspects of evaluation: mental demand, physical demand, temporal demand, performance, effort and frustration. Seventy-five right-handed adults participated in the study (40 females and 35 males), randomly assigned to the 5 levels of experiment. For each group, participants were asked to finish 6 times of space station robotic arm operation tasks with different displays’ conditions. After the space station robotic arm operation tasks, participants’ subjective evaluation was performed. All data were processed by SPSS 17.0. The mean and standard deviation of the five experiment types’ performance and satisfaction evaluation were shown in Table 2 to 3. The ANOVA results showed: 1) Compared with the other four display (single correction information display, single guidance information display, constant background information display, and no background information display), the adaptive focus-context display can more effectively improve the performance of participants(ps＜.05). 2) Compared with the other four display, the adaptive focus-context display shows no significant advantage in reducing the operational cognitive load(ps＞.05). The Research shows that the adaptive focus-context display technology can optimize the information display in the teleoperation interface and improve work performance.

Key words: teleoperation, robotic arm, focus-context display, adaptive display, operational performance

摘要： 遥操作界面中可视信息的有效呈现是提高操作绩效的重要途径。本研究提出自适应背景焦点显示技术原型，构建新型遥操作显示平台，并通过比较不同显示条件下遥操作绩效，考察其应用有效性及特点。结果显示：1）相比其他显示（单一纠正信息、单一指导信息、恒定背景信息和无背景信息），自适应背景焦点显示可有效提高操作绩效；2）在降低主观负荷方面，单一纠正信息显示显著优于其他显示。本研究结果为遥操作显示界面的优化提供了新思路。

关键词: 遥操作, 机械臂, 背景焦点, 自适应, 操作绩效