An object-oriented software graphic simulation and modeling tool is developed to explore human/autonomous control allocation for varied operational scenarios. The system provides designers with LISP workstations through which to simulate telerobotic operations, to model human performance in those operations, to examine task performance profiles, and to investigate control and diagnostic strategies. It is suggested that the provision of such analytic tools along with the presentation of performance projections can assist designers in rapidly and conventionally exploring design alternatives for telerobotic system control.>