Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should be carefully chosen as it determines how operators should move to get desired robot motions. While specific choices made by individual systems have been described in prior work, a design space, i.e., an abstraction that encapsulates the range of possible options, has not been codified. In this paper, we articulate a design space of control coordinate systems, which can be defined by choosing a direction in the remote environment for each axis of the input device. Our key insight is that there is a small set of meaningful directions in the remote environment. Control coordinate systems in prior works can be organized by the alignments of their axes with these directions and new control coordinate systems can be designed by choosing from these directions. We also provide three design criteria to reason about the suitability of control coordinate systems for various scenarios. To demonstrate the utility of our design space, we use it to organize prior systems and design control coordinate systems for three scenarios that we assess through human-subject experiments. Our results highlight the promise of our design space as a conceptual tool to assist system designers to design control coordinate systems that are effective and intuitive for operators.

翻译：遥操作系统将操作者的指令从输入设备映射到远程环境中的某个坐标框架。这个我们称为控制坐标系统的框架需谨慎选择，因为它决定了操作者如何移动才能获得期望的机器人运动。虽然已有文献描述了特定系统的具体选择方案，但尚未形成囊括所有可能选项的抽象设计空间。本文阐述了一个控制坐标系统的设计空间，该空间可通过为输入设备的每个轴向选择远程环境中的方向来定义。我们的核心洞见是：远程环境中存在少量具有明确物理意义的方向。现有工作中的控制坐标系统可根据其轴向与这些方向的对应关系进行归类，而新的控制坐标系统可通过从这些方向中进行选择来设计。我们还提供了三个设计准则，用于评估不同场景下控制坐标系统的适用性。为展示设计空间的实用性，我们运用该空间对现有系统进行了分类，并为三个场景设计了控制坐标系统，通过人体实验对其进行了评估。实验结果表明，该设计空间作为概念性工具，能够帮助系统设计者设计出对操作者高效且直观的控制坐标系统。