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原文摘要

Teleoperating a Remotely Operated Vehicle (ROV) in complex underwater environments presents unique challenges. Dynamic, three dimensional obstacles and unseen water currents pose real risks to expensive robotic hardware in environments in which recovery can be next to impossible. This paper explores the cognitive effects of haptic feedback to improve vehicle safety in such environments. An in-water study is analysed with a ROV exposed to controlled cross-currents, with environmental information presented via a soft and vibrating haptic touchpad. Results demonstrate that while encountering an unseen cross-current significantly increases an operator's physical and temporal demand, the introduction of haptic feedback mitigates these factors and improves self-assessed performance. Interestingly, the haptic condition also produced the highest levels of mental demand and operator frustration. Despite this increased mental workload, operators drove the ROV significantly faster when receiving haptic cues compared to the current-only condition, indicating a higher level of user confidence. Ultimately, these findings suggest that while haptic feedback may initially require more cognitive processing to interpret unseen hazards, it successfully enhances operator awareness and promotes more confident navigation in hazardous environments.