With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object grasping that considers both operator's preferences through their manual manipulation and the constraints of the follower robot. The switching between manual mode and automatic mode enables the operator to intervene the task according to their wishes. The generation of the grasping pose takes into account the current state of the operator's hand pose, as well as the manipulability of the robot. The object grasping experiment indicates that the use of the proposed grasping pose selection strategy leads to smoother follower movements when switching from manual mode to automatic mode.

翻译：随着机器人遥操作技术的不断进步，共享控制被用于减轻遥操作系统中操作员的身心负担。本文提出了一种用于物体抓取的交替共享控制框架，该框架同时考虑了操作员通过手动操作表达的偏好以及跟随机器人的约束。手动模式与自动模式之间的切换使操作员能够根据自身意愿干预任务。抓取姿态的生成综合考虑了操作员手部姿态的当前状态以及机器人的可操作性。物体抓取实验表明，采用所提出的抓取姿态选择策略，在从手动模式切换到自动模式时，能够实现更平滑的跟随运动。