Teleoperation, which means the operation of a remote robotic setup, plays a key role in enabling humans to perform tasks in hazardous and distant environments (e.g. in nuclear waste removal or performing tasks in space). An ideal teleoperation setup makes the operator feel that they are present in the same location as the remote robot, that the robot's body is their body and that the robot's actions are their actions. Such a setup has a high Quality of Experience (QoE).
The quality of the audio, visual and haptic elements, defined as Quality of Service (QoS), in a teleoperation setup can have a significant influence on the Quality of Experience of using the setup. However, the exact influence of QoS on QoE and the preferences in QoS configurations among human operators is not known.
This thesis presentation presents the design and realisation of an audio, visual, and haptic teleoperation setup along with the results obtained from a novel configuration transitions user experiment.