Man-Machine Communication in Computer-Aided Teleoperator Control Systems *

Automated Remote Manipulation is a prime example of a new type of man-machine interaction in which the human operator must supervise and control a complex and often adaptive man-computer system. Computerized control offers the possibilities of improved performance speed and reduced operator work loads with teleoperator systems. Computers can be used at various levels of control, ranging from control augmentation, where the computer performs difficult coordinate transformations which simplify operator control requirements, through complete autonomy in which the computer performs all of the required activities with no intervention by the operator. However, with the introduction of computer-based control techniques, the communication between the operator and the teleoperator becomes an important determinant of work system performance. Rather than controlling directly every action of the manipulator, the operator of a computer-controlled manipulator plans the tasks, commands goal-directed actions, monitors task performance, and intervenes when appropriate. This paper describes an analytical and experimental study conducted by Perceptronics to investigate the effectiveness of command language structures and the methods for providing feedback information through the use of sensors and displays. The study showed that computer aiding can significantly decrease task performance time for a number of teleoperator tasks. The results also indicated that if high-level computer aiding schemes are to be effective, the design of interface and feedback display must be carefully performed to achieve simple and natural man-machine communication.