ABSTRACT
Introduction Today’s robots perform tasks in hostile environments such as space, deep ocean, or nuclear power plants. As the field of robot applications expands, the relationship between humans and robots becomes very important. Unfortunately, the field of human-robot interface technology has not progressed much compared with other areas of robot engineering (Tsuji and Ejiri, 1984). One of the important issues in human-robot interface technology is the allocation of tasks to the human and the robot. The human-robot system can be defined as the system which combines the generality of the human and the autonomy of the robot (Sheridan and Ferrell, 1967).
