ABSTRACT
Robotics met teleoperation when the computer was for the first time introduced as a control element of slave behavior without completely forsaking the human teaching and driving role. A computer can be considered a second brain located in the control loop. It can thus be said that we have two drivers: a human operator and a computer. A computer works only on models: models of tasks or models of the environment. For the human driver, however, knowledge of pertinent information concerning the actual teleoperation system state is very useful. Considering a teleoperation system, we therefore have two potential decision centers: computer and human. At the symbolic level, the computer contribution is deduced from an understanding of the work at hand and is intended to enhance the human operator's decisionmaking process and to improve on-line human-machine communication.
