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Two experiments were conducted examining three-dimensional pursuit tracking when operators of teleoperation simulations are faced with misalignment between the display and control frames of reference. Targets on the experimental displays moved irregularly in three dimensions and were tracked by subjects using either two 2-axis joysticks and a panel-mounted perspective display or, in a separate experiment, a hand-mounted, 6 degree-of-freedom electro-magnetic sensor and a head-mounted, virtual image, stereoscopic display. Analysis of the components of the tracking errors in the perspective display experiment showed that components of the error due to misalignment of the perspective projection may be linearly separated from those associated with the mismatch between display and control coordinate systems. We observed evidence from both experimental conditions that the tracking improved with several hours practice.

We discuss three factors that could alter human operators' perception of a remote worksite and adversely affect their task performance. First, we discuss the effect of image degradation on task performance. Our experimental results are similar to corresponding visual psychophysical experimental results, suggesting that the psychophysical results might be helpful for predicting the performance under other viewing conditions. The second factor is the control of the different viewing parameters. Dynamic control could be disorienting, but if the parameters are fixed, the operator might not feel telepresent. The interface through which the parameters are controlled also requires careful consideration and we discuss the advantages of using a helmet-mounted display. The third factor, the display update rate, can be affected by hardware limitations, transmission delays, or long rendering times.