# Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
## 1 Introduction  
The technological development of autonomous mobile robots is leading to increasingly capable devices [1], but there are still many applications that require supervision or direct operator guidance in unknown and unconstrained environments [2].  
Teleoperation is the extension of sense and manipulation capacities to a distant location [3]. Teleoperated robots are devices remotely controlled by operators in distant environments [4, 5, 6, 7, 8] to collect information or carry out tasks. In this context, telepresence provides people with the feeling of being present in a distant environment [9].  
Teleoperation is a meaningful subject that is imperative in some critical robot applications [10]. Even fully autonomous mobile robots may require some degree of supervision, teleoperation or telepresence to complete complex tasks [11], such as search and rescue missions [12], delicate maintenance labor [13] or elderly care [14]. Indeed, in situations where human life depends on the action and precision of robot movements, a human operator controlling the teleoperation device is indispensable [15]. Deploying activities by mimicking human behavior is also useful in simple and repetitive chores [16] and imitation learning allows a mobile robot to be trained to perform tasks from human demonstrations [17].  
The development of cooperative tasks is naturally supported via gestures and non-verbal communication because they ensure successful expression and task comprehension [18]. When using teleoperated robots in teleworking and collaboration over distance, nonverbal communication also plays an important role if the robots are capable of expressing gestures [19].  
Teleoperated systems can be classified according to the type and direction of the information exchanged between the operator and the robot [20]. According to this criterion,the first teleoperated systems worked under unilateral control, in which there was a one-way communication channel from the operator to the robot. The subsequent introduction of feedback from the robot to the operator resulted in the bilateral control method, and the combination of force feedback and variable feedback such as force, tactile, visual and sound led to the multimodal feedback method.  
Most commonly used teleoperation methods can be sorted according to the mode of control into direct, supervisory and multimodal teleoperation [2; 3]. Direct or master-slave control mode requires the commands of the operator to drive the robot and make decisions. It employs visual feedback from the remote vehicle and traditional controllers such as joysticks for control input. In supervisory teleoperation, the operator monitors the robot and provides assistance when making decisions. In this method, an autonomous control loop provides continuous feedback from the robot, and the control of the system is shared by the robot and the operator, who performs a higher level of overall monitoring [21]. Multimodal teleoperation systems collect information from several sensors, synthesize it and provide a multimodal view of the world to the teleoperator. Multimodal sensor feedback offers efficient control command generation tools and rich situational awareness that help the operator make correct and timely control decisions in dynamic and complex environments [22]. In all telecontrolled systems, the operator is primarily responsible for instructing or monitoring robot tasks in a remote environment.  
New teleoperation methods are continually researched, and the devices used vary depending on the application [23; 24]. More information can be found in the review on robotic remote control methods based on human motion for realistic interaction in virtual collaboration systems presented by [PERSON] et al. [20]. In summary, robot control techniques allow different degrees of operation intervention; the most widespread include collaborative control [25], mixed-initiative control [26], adjustable autonomy [27] and sliding autonomy [28].