A VR-Based Robotic Teleoperation System With Haptic Feedback and Adaptive Collision Avoidance

Robotic teleoperation systems enable humans to control robots remotely. Recent advancements in VR have transformed teleoperation into immersive, intuitive platforms that improve human-machine synergy. However, existing VR-based teleoperation systems face challenges such as under-informed shared control, limited tactile feedback, and computational inefficiencies, which hinder their effectiveness in complex, cluttered scenarios. This paper introduces a novel VR-based teleoperation system incorporating haptic feedback and adaptive collision avoidance. The system tracks human hand trajectories via an VR-based handheld device and provides tactile feedback from a robotic gripper. Through the proposed tele-MPPI method, the system anticipates robot motions, adaptively adjusts trajectories to avoid obstacles, and maintains computational efficiency, enabling real-time operation at 20 Hz. Simulations and experiments demonstrate the system’s ability to grasp delicate objects without damage and to navigate cluttered environments by mitigating collision risks.