# Enhancing Telexistence Control Through Assistive Manipulation and Haptic Feedback
## 8 Conclusions and Future Work  
This study thoroughly examined how assistance and haptic feedback influence the Illusion of Virtual Body Ownership (IVBO) within a telexistence system. Utilizing quantitative and qualitative methodologies, we assessed participants' perceptions of ownership, control, and embodiment of the virtual body alongside their task performance regarding accuracy and completion time. Our findings unequivocally indicate that integrating assistance and haptic feedback markedly enhances task accuracy and efficiency. This underscores the necessity of incorporating such features in future telexistence systems to optimize performance. Furthermore, haptic feedback significantly bolsters the sense of ownership and control over the virtual body. The concurrent presence of assistance and haptic feedback notably elevated participants' acceptance of the virtual body as an extension of themselves. Whileassistance alone improved task performance, it had a detrimental effect on the sense of body ownership. However, haptic feedback effectively mitigated this issue, preserving high-performance levels without undermining the sense of ownership. Despite these advancements, the overall level of embodiment remained low across all configurations, signifying a need for further refinement in this aspect. Qualitative insights revealed that participants particularly valued haptic feedback, appreciating the robotic hand's mimicry of their gestures and the robotic arm's and stereo camera's interactive capabilities. In conclusion, our research provides significant insights into the crucial roles of assistance and haptic feedback in enhancing task performance and body ownership in telexi-istence systems. We confidently assert that assistance should be judiciously integrated into these systems to achieve optimal performance, while haptic feedback should be employed to enrich user experience. The level of assistance should be strategically calibrated to maximize efficiency without compromising body ownership, agency, or embodiment. Future investigations should focus on discerning the ideal balance of assistance and haptic feedback to maximize task performance and body ownership outcomes. Additionally, expanding the participant pool and incorporating more complex tasks will help to validate and generalize the findings. These steps will enhance the applicability of the proposed system and provide deeper insights into its potential across various scenarios. We confidently assert that our innovative approach to augmenting user control represents a significant stride toward more effective telexistence experiences, which preserve the integrity of agency, body ownership, and task success. Our study underscores the pivotal role of haptic feedback and assistance in advancing the functionality and user satisfaction of telexistence systems, laying a robust foundation for subsequent research endeavors in this field. Methodology, M.A.-S. and O.H. ; Software, M.A.-S., H.A., M.H. and A.I. ; Formal analysis, O.H. ; Investigation, H.A. ; Writing--original draft, H.A. and M.H. ; Writing--review & editing, O.H., M.A.-S. and T.N. ; Visualization, O.H. ; Supervision, O.H. and M.A.-S.; project administration, O.H. ; funding acquisition, O.H. and M.A.-S. All authors have read and agreed to the published version of the manuscript. This research was jointly supported by Qatar University Marubeni-Qatar Japan Research Collaboration fund (M-QJRC-2023-325) and the KINDI Computing Research Center at Qatar University. The findings presented herein are solely the responsibility of the authors. Additionally, this work was partially supported by the Program for Leading Graduate Schools, \"Graduate Program for Embodiment Informatics\", funded by Japan's Ministry of Education, Culture, Sports, Science, and Technology. The original contributions presented in this study are included in the article. Further inquiries can be directed to the corresponding author.