  Human factors and ergonomics are the essential constituents of teleoperation
interfaces, which can significantly affect the human operator's performance.
Thus, a quantitative evaluation of these elements and the ability to establish
reliable comparison bases for different teleoperation interfaces are the keys
to select the most suitable one for a particular application. However, most of
the works on teleoperation have so far focused on the stability analysis and
the transparency improvement of these systems, and do not cover the important
usability aspects. In this work, we propose a foundation to build a general
framework for the analysis of human factors and ergonomics in employing diverse
teleoperation interfaces. The proposed framework will go beyond the traditional
subjective analyses of usability by complementing it with online measurements
of the human body configurations. As a result, multiple quantitative metrics
such as joints' usage, range of motion comfort, center of mass divergence, and
posture comfort are introduced. To demonstrate the potential of the proposed
framework, two different teleoperation interfaces are considered, and
real-world experiments with eleven participants performing a simulated
industrial remote pick-and-place task are conducted. The quantitative results
of this analysis are provided, and compared with subjective questionnaires,
illustrating the effectiveness of the proposed framework.
