Abstract: To break through the constraints of the complexity and exclusivity of conventional method，a novel way of controlling robots is proposed in this paper.By combining the advanced interactive technology of iPhone，such as multi-touch technique，with robotic technology，a promising and effective HMI（Human Machine Interface） based on HMM is developed that can analyze human motion.The latest 3G technology is utilized to realize the video feedback based on the Internet.And finally an interaction system is achieved that is universal，portable，and without limitation of distance.Moreover，this system might become the milestone of service robot who will change our life style.In the experiment，this system has shown perfect real-time ability，highly friendliness，and extreme portability.

Key words: human-machine interaction system, resolution of human motion, portable and universal, smart phone

摘要： 突破传统机器人控制的专用复杂性与封闭性，创新地将iPhone各种硬件资源和先进的交互技术（如MULTI-TOUCH、加速计等）与机器人技术进行有机融合，实现基于HMM的人体动作控制解析功能的高易用性人机接口（HMI）。使用3G技术接入Internet来构建具有实时网络视频反馈的远程机器人控制平台，开发出一种通用便携、控制灵活、无距离限制的高友好度的机器人人机交互系统。该系统将作为服务机器人进入千家万户的一个契机，改变人们未来生活的模式。经实验验证，该系统实时实用性能良好，实现了便携通用的高友好度网络机器人控制。

关键词: 人机交互系统, 人体动作解析, 便携通用, 智能手机