A gesture-based teleoperation system for compliant robot motion

Wei Zhang, Hongtai Cheng*, Liang Zhao, Lina Hao, Manli Tao, Chaoqun Xiang

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

7 Citations (Scopus)
80 Downloads (Pure)


Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for compliant robot motion is proposed. By using the left hand as the commander and the right hand as a positioner, different operation modes and scaling ratios can be tuned on-the-fly to meet the accuracy and efficiency requirements. Moreover, a vibration-based force feedback system was developed to provide the operator with a telepresence capability. The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed. The experiment results prove that the gesture-based teleoperation system is effective at handling compliant robot motions.

Original languageEnglish
Article number5290
Number of pages18
JournalApplied Sciences (Switzerland)
Issue number24
Publication statusPublished - 4 Dec 2019


  • Compliant robot motion
  • Force feedback
  • Gesture-based teleoperation
  • Robotic assembly


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