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arXiv · 2602.00493

One Body, Two Minds: Alternating VR Perspective During Remote Teleoperation of Supernumerary Limbs

Hongyu Zhou·Xincheng Huang·Winston Wijaya·Yi Fei Cheng·David Lindlbauer·Eduardo Velloso·Andrea Bianchi·Zhanna Sarsenbayeva·Anusha Withana
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Abstract

Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade comfort, embodiment, and coordination. Based on a formative study (N=10) using a virtual supernumerary robotic limbs configuration to stress-test coordination, we propose guest-driven perspective switching from a shared first-person baseline (Shared Embodied View) to two alternatives: (a) a stabilized view with guest-controlled rotation (Embedded Anchored View), and (b) a fully decoupled third-person view (Out-of-body View). We ran a user study with 24 pairs (N=48) who switched between the baseline and proposed views as task demands changed. We measured performance, embodiment, fatigue, physiological arousal, and switching behaviors. Our results reveal role-dependent trade-offs: Out-of-body View improves navigation efficiency and reduces errors, while Embedded Anchored View supports embodiment. We conclude with guidelines: use Embedded Anchored View for hand-centric adjustments, Out-of-body View for navigation and object placement, and ensure smooth transitions.

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Hongyu Zhou, Xincheng Huang, Winston Wijaya, Yi Fei Cheng, David Lindlbauer, Eduardo Velloso, Andrea Bianchi, Zhanna Sarsenbayeva, Anusha Withana. 2026-01-31. One Body, Two Minds: Alternating VR Perspective During Remote Teleoperation of Supernumerary Limbs. https://doi.org/10.1145/3772318.3791433

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