Human supervisory control of robot systems

This paper reviews some what\´s and whys of "supervisory control", "telerobotics" and "telepresence" as applied to operations in space. Specific salient problems and developments in control are described, including: (1) computer-based planning; (2) command language; (3) geometric resolution; and (4) arm/end-effector dexterity and impedance. Key problems and developments in telesensory feedback are also described, including: (i) predictive display; (2) teleproprioception; (3) force reflection; and (4) teletouch. Finally, some "policy" problems of design/development by computer simulation vs. hardware design, and the problems of evaluation of prototype systems are mentioned. Efforts from the author\´s laboratory are cited as examples; no comprehensive literature review is intended.