Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback

Affan Pervez, Hiba Latifee, Jee Hwan Ryu, Dongheui Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations


Even though teleoperation has been widely used in many application areas including nuclear waste handling, underwater manipulation and outer space applications, the required mental workload from human operator still remains high. Some delicate and complex tasks even require multiple operators. Learning from Demonstration (LfD) through teleoperation can provide a solution for repetitive tasks, but in many cases, one task can be a combination of repetitive and varying motion. This paper introduces a shared teleoperation method between human and agent, trained by LfD through teleoperation. In the proposed method, human takes charge of uncertain or critical motion, whereas more mundane and repetitive motion could be carried out through the assistance of the agent. The proposed method has exhibited superior performance as compared to the human-only teleoperation for a peg-in-hole task.

Original languageEnglish
Title of host publicationHaptic Interaction - Perception, Devices and Algorithms, 2018
EditorsKi-Uk Kyung, Masashi Konyo, Sang-Youn Kim, Hiroyuki Kajimoto, Dongjun Lee
PublisherSpringer Verlag
Number of pages5
ISBN (Print)9789811331930
StatePublished - 2019
Externally publishedYes
Event3rd International AsiaHaptics Conference, 2018 - Incheon, Korea, Republic of
Duration: 14 Nov 201816 Nov 2018

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference3rd International AsiaHaptics Conference, 2018
Country/TerritoryKorea, Republic of


  • Cooperative teleoperation
  • Dynamic Movement Primitive
  • Haptic feedback
  • Human-agent shared teleoperation
  • Learning from Demonstrations
  • Teleoperation


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