This paper shows some results of the research made in order to develop multimedia interfaces for teleoperated robots. Several experiments in order to evaluate the operator interaction with several devices have been conducted. The interaction with the operator is done through operator input devices, and operator output devices, both studied in order to improve the performance of teleoperated tasks execution. Inputs are the way for the operator to send commands to robots and other devices, such as cameras, tools, or the interface configuration itself. Three kinds of inputs have been evaluated: voice, master arms, and graphical utilities. Outputs are the way to present to the operator the remote task evolution. These outputs are linked to operator senses, and they excite his vision, hearing, and touch, according to information from the remote site. The experiments have been conducted over the same task with different configurations, so as to obtain the performance of each interface configuration. Besides, the experiments have distinct information sent to operator and information received from the operator, in order to evaluate the different devices independently.