Delays in direct teleoperation decouple operator input from robot feedback. We frame this not as a unitary problem but as three facets of operator uncertainty: (1) communication, when commands take effect, (2) trajectory, how inputs map to motion, and (3) environmental, how external factors alter outcomes. We externalized each facet through predictive visualizations: Network, Path, and Envelope. In a controlled study with 24 participants (novices in telerobotics) navigating a simulated robot under a fixed 2.56 s round-trip delay, we compared these visualizations against a delayed-video baseline. Path significantly shortened task time, lowered perceived cognitive load, and reduced reliance on reactive “move-and-wait” behavior. Envelope lowered cognitive load but did not significantly reduce reactive behavior or improve performance, while Network had no measurable effect. These results indicate that predictive support is effective only when trajectory uncertainty is externalized, enabling operators to move from reactive to more proactive control.

Printed circuit boards (PCBs) are fundamental to modern electronics and are present in almost every electronic device. However, despite their ubiquity, current PCB assembly methods can be time-consuming and lack flexibility for one-off designs. This poster investigates how low-volume PCB prototyping can be enhanced by integrating collaborative robots (cobots) and Augmented Reality (AR). Specifically, we introduce SOLDAR, a system that facilitates the soldering of electronic through-hole components on PCBs. By using a cobot for optimal PCB positioning and AR glasses for step-by-step guidance, SOLDAR aims to streamline the assembly process. The expected outcomes are increased efficiency, reduced assembly time, and greater flexibility for low-volume PCB prototyping designs. To validate these hypotheses, user experiments are necessary.