Towards Universal Shared Control in Teleoperation Without Haptic Feedback

TL;DR

This paper presents a real-time shared control method for teleoperation that converts user input into collision-free trajectories and suppresses liquid slosh, eliminating the need for haptic feedback in VR controllers.

Contribution

It introduces a multi-objective optimization framework for collision avoidance and liquid slosh suppression in teleoperation without haptic feedback.

Findings

Achieves 13 ms average planning latency for real-time control

Successfully suppresses liquid slosh in a teleoperated glass

Maintains collision-free trajectories in complex environments

Abstract

Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid slosh in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives.