Adaptive supervisory control of remote manipulation

The command language by which an operator exerts supervisory control over a general purpose remote manipulator should be designed to accomodate certain characteristics of human performance if there is to be effective communication between the operator and the machine. Some of the ways in which people formulate tasks, use language, learn and make errors are discussed and design implications are drawn. A general approach to command language design is suggested, based on the notion matching the operator\´s current task schema or context by appropriate program structures or "frames" in the machine.