The input/output channel is in charge of data input, pre-processing and output using joystick, processor and A/D and D/A interface as in Fig.3.
The prepocessed data are inputted into information processing module in which the stream of directed motion queues are saved, decomposed into logical motion units, and edited to produce realistic motion of character in the task scheduler. The schematic diagram of information processing module is given in Fig.4.
As shown in Fig.5, the character model used in tele-operation of cooperative work has 33 degree of freedom and 17links. Each link is connected by using one of two kinds of joints, revolute or spherical joint. The spans of joint angles are also given in Table 1 along with the types of connecting joints. Dimension of each link and whose distribution for avatar used in the simulation is depicted in Fig.7 with distribution diagram. The height of avatar model is set to 186cm, upper and lower parts being 84cm and 102cm, respectively.