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.
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