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arXiv · 2506.23624

Towards Universal Shared Control in Teleoperation Without Haptic Feedback

Max Grobbel·Tristan Schneider·Sören Hohmann
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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.

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Max Grobbel, Tristan Schneider, Sören Hohmann. 2025-06-30. Towards Universal Shared Control in Teleoperation Without Haptic Feedback. https://arxiv.org/abs/2506.23624

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