Telerobot Configuration Editor

The Telerobot Configuration Editor (TCE), an iconic graphical user interface based on the X Windows environment, is described. TCE offers an easy way to configure a complex telerobotic system which requires numerous parameter settings to access the full capabilities of the system. The screen layout design of TCE, which utilizes various visual coding mechanisms to make the hierarchical structure of the TCE visible to the user, is examined in detail. Two key features of the design-the macro configuration buttons and the system access levels-are examined. The macro configuration buttons can store the full or a partial set of configuration parameters, and these macros can be used as high-level configuration parameters that are well suited to the physical tasks such as peg insertion task. The system access levels limit the user access to the system, based on ability and need. Other design features are described