Telerobotic system is a typical human-machine system. The operation results not only depend on the performance of machine, but also the status of teleoperators (SoT). However, existing telerobotic systems scarcely consider the impact of teleoperators. This paper proposes a method for the online identification of the SoT and incorporates it to a shared control telerobotic system. First, some mental indicators are obtained based on Electroencephalogram during teleoperations. The relationship between the SoT and mental indicators is then established by a neural network. The online SoT identification is further implemented on a mobile telerobotic system. Second, a SoT based shared control framework is proposed in telerobotic system. The SoT is designed to dynamically adjust the control weight of the shared controller. Finally, comparative experiments are performed between a sensor based shared control method and the SoT based shared control method. The result validates the effectiveness of the proposed SoT based shared control method in telerobotic system.

远程机器人系统是典型的人机系统。操作结果不仅取决于机器的性能，还取决于远程操作员（SoT）的状态。但是，现有的远程机器人系统几乎不考虑远程操作员的影响。本文提出了一种在线识别SoT的方法，并将其结合到共享控制远程机器人系统中。首先，在远距离手术中根据脑电图获得一些心理指标。然后通过神经网络建立SoT和心理指标之间的关系。在线SoT识别在移动远程机器人系统上进一步实现。其次，提出了一种在远程机器人系统中基于SoT的共享控制框架。SoT旨在动态调整共享控制器的控制权重。最后，在基于传感器的共享控制方法和基于SoT的共享控制方法之间进行了对比实验。结果验证了所提出的基于SoT的远程机器人共享控制方法的有效性。