With the widespread application of collaborative robots in industrial production and service sectors, human-machine interaction (HMI) technology in robotic teleoperation systems has become particularly important. This study aims to explore the impact of different force-color mapping schemes on the accuracy of human visual judgment, particularly in how color changes can assist users in assessing the force applied to a robot’s gripper within the collaborative robot teleoperation interfaces. Through experimental research on six different color combination schemes, this paper evaluates the performance of these color combinations in user visual judgment, particularly focusing on the effects of different color presentation methods (single-color and multi-color schemes). The experimental results indicate that Scheme 5 performed the best in user evaluations. Increased color differentiation helps improve judgment accuracy, but an excessive number of colors may increase users’ memory load. Therefore, it is recommended to incorporate a force-color reference table in the interface for guidance. This study provides a theoretical foundation for the design of collaborative robot teleoperation system interfaces and offers optimization suggestions for future force visualization designs.