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Interactive Teleoperation of an Articulated Robotic Arm Using Vision-Based Human Hand Tracking.

Marius-Valentin Drăgoi¹, Aurel-Viorel Frimu², Andrei Postelnicu¹

¹Faculty of Industrial Engineering and Robotics, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania.

Biomimetics (Basel, Switzerland)

|February 26, 2026

Summary

This summary is machine-generated.

This study introduces a vision-based teleoperation system for controlling robotic arms using only a laptop camera and hand tracking. The accessible framework achieves high success rates for robotic manipulation tasks without specialized hardware.

Keywords:

hand tracking human–robot interaction robotic manipulation teleoperation vision-based control

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Area of Science:

Robotics
Computer Vision
Human-Robot Interaction

Background:

Existing teleoperation systems often require specialized sensors or wearable devices, hindering accessibility and scalability.
Intuitive human-robot interaction is crucial for advancing robotic manipulation and control.

Purpose of the Study:

To develop and evaluate a vision-based teleoperation framework for controlling an articulated robotic arm using a standard laptop camera.
To enable real-time robotic arm control through human hand tracking and gesture recognition.

Main Methods:

Utilized a real-time landmark estimation pipeline for hand pose and gesture extraction.
Mapped kinematic descriptors (palm position, scale, wrist rotation, pitch, pinch gesture) to robotic joint commands via a calibration-based strategy.
Implemented temporal smoothing and rate-limited updates for enhanced stability and responsiveness.

Main Results:

Achieved an 88% success rate in human-in-the-loop evaluations with 42 participants.
Demonstrated a mean completion time of 53.48 ± 18.51 seconds and a placement error of 6.73 ± 3.11 cm for successful trials.
Reported an ease-of-use score of 2.67 ± 1.20 on a 1-5 scale.

Conclusions:

The proposed vision-based framework enables feasible interactive teleoperation without specialized hardware.
The system offers a low-cost platform with potential applications in robotic manipulation, education, and rapid prototyping.