Towards Universal Shared Control in Teleoperation Without Haptic Feedback

-- T eleoperation 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. Teleoperation enables humans to interact with the environment in remote places. Especially inaccessible hazardous environments have been named in research.