Object-Based Teleoperation Interface for Collaborative Manipulation

Teleoperation enables human operators to control robots in remote environments, yet its integration with physical human–robot interaction (pHRI) for handling cumbersome objects remains limited. This work introduces a mixed reality (MR) teleoperation interface using an object-based control strategy, enabling the remote operator to manipulate a virtual point on the object rather than the robot’s tool center point. The approach was evaluated in collaborative manipulation of an object exceeding the robot’s payload capacity and compared with conventional control in a user study. Object-based control supported accurate, differentiated rotational behaviors and was rated more favorably in usability while maintaining low work- load, indicating its potential for precise, intuitive manipulation of heavy or bulky objects.