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Thus, it is required to study the best manner in which assistance can be provided to the operator that reduces interface complexity and effort required for teleoperation. Some techniques that provide assistance to the operator while freeform teleoperating include: (1) perception augmentation, like augmented reality visual cues and additional camera angles, increasing the information available to the operator; (2) action augmentation, like assistive autonomy and control augmentation, optimized to reduce the effort required by the operator while teleoperating. In this article, we investigate: (1) which aspects of dexterous telemanipulation require assistance; (2) the impact of perception and action augmentation in improving teleoperation performance; and (3) what factors impact the usage of assistance and how to tailor these interfaces based on the operators\u2019 needs and characteristics. The findings from this user study and resulting post-study surveys will help identify task-based and user-preferred perception and augmentation features for teleoperation assistance.<\/jats:p>","DOI":"10.1145\/3643804","type":"journal-article","created":{"date-parts":[[2024,1,31]],"date-time":"2024-01-31T11:58:59Z","timestamp":1706702339000},"page":"1-40","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":9,"title":["Perception and Action Augmentation for Teleoperation Assistance in Freeform Telemanipulation"],"prefix":"10.1145","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4367-2427","authenticated-orcid":false,"given":"Tsung-Chi","family":"Lin","sequence":"first","affiliation":[{"name":"Worcester Polytechnic Institute, Robotics Engineering, Worcester, Massachusetts, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7371-8318","authenticated-orcid":false,"given":"Achyuthan Unni","family":"Krishnan","sequence":"additional","affiliation":[{"name":"Worcester Polytechnic Institute, Robotics Engineering, Worcester, Massachusetts, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3194-5176","authenticated-orcid":false,"given":"Zhi","family":"Li","sequence":"additional","affiliation":[{"name":"Worcester Polytechnic Institute, Robotics Engineering, Worcester, Massachusetts, USA"}]}],"member":"320","published-online":{"date-parts":[[2024,3,11]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"Intuitive. 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