“…The control scheme design challenge was reaffirmed as unsolved as recently as 2022 ( Rea and Seo, 2022 ), in which paper the authors suggest that improvements from user-centered design have trailed improvements in technology, creating a situation in which the main factor limiting teleoperated robot usage is the difficulty of learning to effectively control them. A common approach to control scheme design is for a researcher to design several mappings and then compare user performance for each control scheme ( Wang et al, 2018 ; Hetrick et al, 2020 ; Whitney et al, 2020 ; Meeker et al, 2022 ; Molnar and Mengüç, 2022 ). The control interface is usually pre-determined, and performance is task-dependent, so the researcher selects the performance evaluation tasks based on the particular use case for the robot ( Molnar and Mengüç, 2022 ).…”