---
publication_id: "OT-2026-000001892"
title: "Techniques for following commands of an input device using a constrained proxy"
published_at: "2026-09-15T19:09:20.580035Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001892"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1689"
  - "b25j9/1689"
  - "b25j9/1689"
  - "a61b34/00"
  - "a61b34/35"
  - "a61b34/35"
---

# Techniques for following commands of an input device using a constrained proxy

## Abstract

Disclosed techniques include a computer-assisted device having an input control, a functional structure, and a processing system. The functional structure is configured to include a repositionable structure, and the repositionable structure is configured to support an instrument. The processing system is configured to receive a movement command from the input control, update a pose of a proxy based on the movement command and a proxy constraint, and cause the functional structure to move based on the updated pose of the proxy. In some embodiments, the input control controls a pose of a virtual leader device. The processing system updates a pose of a proxy based on the pose of the virtual leader device, updates a pose of a virtual follower device based on the updated pose of the proxy, and causes the functional structure to move based on the pose of the virtual follower device.