标题： 面向无触觉反馈的通用共享控制的远程操作 显示英文标题

标题： Towards Universal Shared Control in Teleoperation Without Haptic Feedback

摘要： 使用非触觉VR控制器的遥操作剥夺了人类操作员的关键运动反馈。 我们通过嵌入一个多目标优化问题来解决这个问题，该问题将用户输入转换为无碰撞的UR5e关节轨迹，同时主动抑制玻璃中的液体晃动。 该控制器保持平均规划延迟为13毫秒，确认了实时性能，并促使对该遥操作方法进行进一步目标的增强。 显示英文摘要

摘要： 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.