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In the field of robotics, robot teleoperation for remote or hazardousenvironments has become increasingly vital. A major challenge is the lagbetween command and action, negatively affecting operator awareness,performance, and mental strain. Even with advanced technology, mitigating thesedelays, especially in long-distance operations, remains challenging. Currentsolutions largely focus on machine-based adjustments. Yet, there's a gap inusing human perceptions to improve the teleoperation experience. This paperpresents a unique method of sensory manipulation to help humans adapt to suchdelays. Drawing from motor learning principles, it suggests that modifyingsensory stimuli can lessen the perception of these delays. Instead ofintroducing new skills, the approach uses existing motor coordinationknowledge. The aim is to minimize the need for extensive training or complexautomation. A study with 41 participants explored the effects of altered hapticcues in delayed teleoperations. These cues were sourced from advanced physicsengines and robot sensors. Results highlighted benefits like reduced task timeand improved perceptions of visual delays. Real-time haptic feedbacksignificantly contributed to reduced mental strain and increased confidence.This research emphasizes human adaptation as a key element in robotteleoperation, advocating for improved teleoperation efficiency via swift humanadaptation, rather than solely optimizing robots for delay adjustment.

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence