It emphasizes human-centered and robot collaborating with human when robot is employed in dynamic, unstructured environments or those tasks which can not be fulfilled without human. To achieve constancy interaction, WearComp-based interface devices should be adopted. This paper analyzes and compares the status quo of multiple output modalities, interfaces and devices including display, sound, vibration, tactile and force, and sums up the character and limitation of multiple WearComp-based output technologies and devices and the methods to avoid it. To prevent VR from shielding local environment and monopolizing the bandwidth of transmission and the resources of WearComp-based output devices, AR should be introduced to enhance human awareness of local environment with filtrated information of tele-environmental and tele-robot.