“…Additionally, commercial VR systems such as SteamVR Steam (2021) and Oculus SDK Oculus (2021) use visual feedback that displays the workspace limits. In the case of human-robot collaboration, literature suggests giving users visual feedback about the robotic system's behavior as a way to increase users' perceived safety when interacting with a robot in virtual reality (Guhl et al, 2018;Kästner and Lambrecht, 2019;Oyekan et al, 2019). However, in the case of ETHDs, disclosing too much information about the robotic actuator's behavior might break users' immersion in a VR application.…”