Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation

Description

Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators to directly perceive or regulate contact forces, limiting task performance. To address this, we propose an augmented reality (AR) visualization of the impedance controller's target pose and its displacement from each robot end effector. This visualization conv

Source