Abstract—In this paper we present ongoing work on how to incorporate human motion models into the design of a high performance teleoperation platform. A short description of human motion models used for ballcatching is followed by a more detailed study of a teleoperation platform on which to conduct experiments. Also, a pilot study using minimum jerk theory to explain user input behavior in teleoperated catching is presented. Index Terms—Teleoperation, control, high performance manipulation, human motion. I