*1.1. Motivation*

There is currently a proliferation of applications based on robotic systems that require interaction or cooperation with users [1–3]. This is due, on the one hand, to the fact that the complete automation of such applications is not yet well resolved due to their complexity, need for adaptability to changes, decision making, etc., and, on the other hand, to the benefits of human and robot cooperation for certain applications [4].

While many approaches can be found in the literature proposing solutions for complex applications, where human and robot have to cooperate, many of these solutions do not take into account that human–robot interaction has to be natural and intuitive for the human [5–8]. Otherwise, the benefits that such cooperation may bring a priori will be negatively affected, and the cooperative solution adopted may be rejected.

Based on the complexity presented by the interaction of users with the so-called bimanual robotic systems, this work develops a novel methodology for the design of interfaces based on augmented reality so that this interaction is natural and intuitive for the user.
