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1、1TheHumanRoleinTeleroboticsRafaelAracil1,MartinBuss2,SalvadorCobos1,ManuelFerre1,SandraHirche2,MartinKuschel2,andAngelikaPeer21UniversidadPolit′ecnicadeMadridDpto.deAutom′atica,Ingenier′?aElectr′onicaeInform′aticaIndustrialC/.Jos′eGutierrezAbascal2,28006Madrid,Spainaracil@etsii.upm.es,m.ferre@
2、upm.es,cobosalvador@etsii.upm.es2TechnischeUniversit¨atM¨unchenInstituteofAutomaticControlEngineering(LSR)D-80290Munich,Germany{mb,hirche,martin.kuschel,angelika.peer}@tum.deSummary.Thischapterintroducesthemaintopicsofateleroboticsystem.Itde-scribesthearchitectureofsuchasystemfromageneralpoint
3、ofviewandemphasizestheinteractionbetweenahumanoperatorandarobotthatperformsthetaskintheremoteenvironment.Furthermoreitfocusesonmulti-modalhumansysteminterfacesandexplainsthemainfeaturesofhaptic,auditory,andvisualinterfaces.Finallyim-portantissuesforthemeasurementandevaluationoftheattributetele
4、presencearedescribed.1.1IntroductionTeleroboticsystemsallowhumanoperatorstoproperlyinteractwithatelerobottotelemanipulateobjectslocatedinaremoteenvironment.Thismeansthathu-manactionsareextendedtoremotelocationsallowingtheexecutionofcomplextasksandavoidingriskysituationsforthehumanoperator[1].I
5、nateleroboticsystemthehumanoperatorplaysanimportantrole.Heper-ceivesinformationfromtheremoteenvironmentthroughthehumansystemin-terfaceandactsaccordinglybysendingcommandstotheremotedevices.Thusthehumansysteminterfacehastwoimportantfunctions;?rst,ithastoexcitetheoperatorsensessoastoshowthestatus
6、oftheexecutedtaskintheremoteenvironmentandsecond,ithastoprocesstheoperatorcommandsinordertoproperlycontrolremotedevices.Multi-modal1commandsaregeneratedbytheoperatorathisorherworkingsitebymeansofthehumansysteminterfaceusingmotion,force,voiceorsymbolicinputs.Suchcommandsaretransmittedtotheteler
7、obotinordertoperformtheremotetask.Sensorsareplacedattheremotesitetogatherdatafromthetaskwhichisthentransmittedbacktotheoperatoranddisplayedbythemulti-modalhumansysteminterface.Designingofmulti-modalhumansysteminterfacesisoneofthekeychal
