Egocentric teleoperation approach

In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limits for multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a human operator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomously maintains the geometric constraint. The experimental results of an operation of target fitting showed significantly less duration time and work load than the direct teleoperation.