Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited feedback to the human operator. Moreover, the high cost of haptic interfaces is a major limitation for the application of telemanipulation in various fields, including elder care, where our research is focused. To address these challenges, this paper proposes the usage of nonlinear model predictive control for telemanipulation using low-cost virtual reality controllers, including multiple control goals in the objective function. The framework utilizes models for human input prediction and taskrelated models of the robot and the environment. The proposed framework is validated on an UR5e robot arm in the scenario of handling liquid without spilling. Further extensions of the framework such as pouring assistance and collision avoidance can easily be included.

翻译：遥操作已成为一种将人类智能与机器人能力相结合以远程执行任务的有前景技术。然而，它面临诸多挑战，如透明度不足、沉浸感低以及操作员反馈有限。此外，触觉接口的高成本是限制遥操作在包括我们研究重点——老年护理在内的各领域应用的主要障碍。为解决这些问题，本文提出使用非线性模型预测控制，通过低成本虚拟现实控制器实现遥操作，并在目标函数中纳入多个控制目标。该框架利用人类输入预测模型以及机器人与环境的任务相关模型。所提框架在UR5e机器人臂的液体处理（无溅洒）场景中得到验证。进一步扩展该框架如倒液辅助与避碰等功能可轻松集成。