## 1 Introduction
It refers to the phenomenon that a human operator develops a sense of being physically present at a remote location through interaction with the system's human interface [14]. Teleobotics appears as a subclass of teleoperation where the human operator supervises and/or controls a remote semi-automatic robotic system. The teleoperation of robots involves two major activities: remote perception and remote manipulation. In [15], to improve teleoperation, we proposed the use of immersive technologies to allow operators to perceive the remote environment as though being there, where the control of the robot was as simple as controlling their own bodies. Thus, operators could sense the robot's body as their own (embodiment [16]), simplifying the navigation control. The use of head-mounted displays (HMDs) to naturally control the point of view of the remote robot's camera and display control instruments was further explored in [17] to allow operators to feel that they were controlling the robot from inside. The sense of presence was improved using a \"virtual cockpit\" while the operators' faults and mental workload were minimized. Nevertheless, we realized that factors were compromising the sense of telepresence and degrading task performance in these works and other author's related works [18]. It is not simple to dissociate the flows that exist in a teleoperation system (visual feedback, haptic, control, etc.) because impairing one of them would make the robot uncontrollable. Therefore, the present research aims to be a contribution to human perceptual factors with an impact on the teleoperator's behavior. Some factors degrade human performances such as low video stream bandwidth, frame rates, time lags, frame of reference, lack of proprioception, two-dimensional views, attention switches, or motion effects [8; 16; 19]. Some related works [20] analyzed the global effect of these factors on physical workload and on task performance without discriminating their weights in the system. Other authors focused on the effect of a specific factor such as the field of view [21] or focused on virtual environments [22]. The present study aims to decouple the flows of an immersive teleoperation system to understand how the vision and interaction fidelity levels affect spatial cognition. The immersive experience can be enhanced through the replication of real visual feedback, thus supporting the operator's traditional hand-eye coordination [23; 24]. Based on [PERSON]'s findings [16], we also aim at consistency between actions (movements) and the multimodal feedback (e.g., visual and haptic). Pursuing this goal, we expect to provide enough spatial and motion cues of the remote environment to allow operators to perceive and behave naturally. Therefore, we contribute to the minimization of cognitive workload and performance improvement. We propose simplifying the operation control by exploring and combining telerobotics with telepresence. We argue that if with the use of media devices, the operators experiment with the sensation of being in the remote environment, then the task performance becomes as natural as being there. This research proposes an immersive interface approach for teleoperation and evaluates it against traditional remote control systems. The introduction of telepresence systems influences and enlarges the range of applications that can benefit from its use. Nevertheless, given some current technological limitations and taking into account the results from studies on human factors, a set of recommendations for the design of these systems is presented. The evaluation of any interactive system is a crucial step in the development process. This evaluation can be divided into two parts: user task performance and usability and user acceptance.