Controller Evaluation for Earthwork Teleoperation and Training in Virtual Reality

Virtual reality (VR) training and teleoperation tech-nologies play a pivotal role in revolutionizing workforce de-velopment and remote machinery operation in Industry 4.0. By providing immersive, interactive, and cost-effective training solutions, they thereby enhance operational efficiency and safety standards. However, to achieve such results, they need the right tool for the right task, or in the case of VR, the right controller for the right application. This study assesses the performance of different controller types, including gaming gamepads, traditional VR controllers, and sim-ulators joysticks, in terms of user experience, task performance, and ease of use. Through a series of experiments and user feedback analyses, we identify the strengths and limitations of each controller. The results show that the joysticks, the controllers closest to the real-life interface present in excavators, are the most suited interface for our VR earthwork application despite the lack of user familiarity with this controller.