  Efficient and intuitive Human-Robot interfaces are crucial for expanding the
user base of operators and enabling new applications in critical areas such as
precision agriculture, automated construction, rehabilitation, and
environmental monitoring. In this paper, we investigate the design of
human-robot interfaces for the teleoperation of dynamical systems. The proposed
framework seeks to find an optimal interface that complies with key concepts
such as user comfort, efficiency, continuity, and consistency. As a
proof-of-concept, we introduce an innovative approach to teleoperating
underwater vehicles, allowing the translation between human body movements into
vehicle control commands. This method eliminates the need for divers to work in
harsh underwater environments while taking into account comfort and
communication constraints. We conducted a study with human subjects using a
head-mounted display attached to a smartphone to control a simulated ROV. Also,
numerical experiments have demonstrated that the optimal translation is often
the most intuitive and natural one, aligning with users' expectations.
