2016 16th International Conference on Control, Automation and Systems (ICCAS 2016) Oct. 16-19, 2016 in HICO, Gyeongju, Korea 1. INTRODUCTION Currently available autonomous robotic systems are unable to be fully functional to support human assistance due to their limited intelligence and autonomy. The difficulty of current robotics technologies were surely exhibited at DARPA Robotics Challenge 2015 (DRC2015). For many tasks of DRC 2015, all the participating robots were remotely controlled by human operators, rather than by robotic intelligence and autonomy [1]. The human assistance is still necessary to operate robotic systems. The goal of human-machine collaborative interaction is to exploit the strengths and capabilities of both the human and robot. In order for a Human-Machine Interface (HMI) to be effective in a specific environment, the interface must be efficient, intuitive, and adaptable. Many researchers are focused on the development of advanced robotic systems with increase autonomy, but comparatively minimal researcher has been studied to the control interface. This one way to improve the robot platform would be taking advantage of human control loop. HMI design must consider multiple control paradigms based not only on the characteristics of the robot, but of the operator as well. A highly reliable HMI intended for specific task, there is a need to create systems that can be used by first operators as easily as possible, which required less training time on the system’s operation. In this study, we propose the concept of multi-modal human-machine interface to provide the human operator with friendly feeling as if the human operator is at the operation site using a combination of visual, auditory, kinesthetic, vestibular, and proprioceptive senses rather than performance of robot. This paper is preliminary study of multi-modal human machine interface and focused on control console interface with kinesthetic sense. In order to HMI design for operator friendly, we set out to evaluate the generalizability of the Firrs’ law and steering law to various control console [2]. The task of experiment is under the simple driving environment with kinesthetic feedback by using haptic motors. The experiment results provide insights into the characteristics of the most common control console when used for steering tasks. The five devices studied were xbox360 gamepad, conventional steering wheel, yoke flight controller, conventional one-hand joystick, dual joysticks. 2. MATERIAL AND METHOD 2.1. Fitts’ law paradigm In pointing tasks, Fitts' law is one of the general estimation methods that show the trade-off between speed and accuracy. According to Fitts’ law, human movement can be described by the transmission of information. As a result, the Fitts’ law model has been widely used and adopted in various research areas. Fitts’ law states that the movement time (MT) is linearly proportional to the index of difficulty (ID). To mathematically express the difficulty, the Shannon formulation of ID was used, which can be formulated as follows: 2 log 1 A MT a b W          (1) where a and b are information transmission coefficients. Evaluation of control console for use in robotic task while simple driving Jangwoo Park 1 ,Ilhwan Kim 2 and Shinsuk Park 3* 1 Department of Mechanical Engineering, Korea University, Seoul, 136-713, Korea (Tel : +82-2-3290-3868; E-mail:glorifyou@korea.ac.kr ) 2 Department of automotive convergence, Department of, Korea University, Seoul, 136-713, Korea (Tel : +82-2-3290-3868; E-mail: 2015020997@korea.ac.kr) 3 Department of Mechanical Engineering, Korea University, Seoul, 136-713, Korea (Tel : +82-2-3290-3373; E-mail: drsspark@korea.ac.kr) * Corresponding author Abstract: Currently, there are many input modalities for human machine interface (HMI) in robotic systems. While there have been remarkable advances in robotic technologies for the past decades, the robot systems are still far from matching the human capabilities, as we have seen the robots perform mission tasks in DARPA Robotics Challenge (DRC) 2015. The Effective HMI design must consider multiple control paradigms based not only on the characteristics of the robot, but of the operator as well. We propose the concept of multi-modal human-machine interface to provide the human operator with friendly feeling as if the human operator is at the operation site using a combination of visual, auditory, kinesthetic, vestibular, and proprioceptive senses rather than performance of robot. Preliminarily, in order to HMI design for operator friendly, we set out to evaluate the generalizability of the Firrs’ law and steering law to various control console The results of this study show that the conventional steering wheel console has the best performance, which suggests that steering wheel console can be applicable multi-modal HMI for operator friendly. Keywords: Human-machine interface, fitts’ law, steering law, index of performance