“…In teleoperation, there is always concern about the suitable level of autonomy, especially when there is a delay and incomplete situational awareness (SA) (Yanco et al , 2015). Although the level of autonomy varies continuously from direct control method to fully sending a program asynchronously, however, there are three major categories (Senft et al , 2021): (1) teleprogramming, in which the operators develop and send programs that define the robot’s behaviors and responses to variations in its environment; (2) semiautonomous, where necessary, the human operator controls robot operations from time to time and can set higher-level activities that are carried out by the robot autonomously; and (3) direct control, in which all robot’s activities are manually controlled in real time by the operator.…”