{
  "abstract": "An embodiment provides an implementation of constraints on a teleoperated system applied directly to the teleoperated robot. In conventional systems, the teleoperating operator receives feedback from the response of the teleoperated robot to the constraint. In the embodiment, however, the constraint engine initiates constraining feedback commands to the teleoperator simultaneously with its commands to the teleoperated robot. This solves a problem of latency in feedback to the operator by (a) eliminating the time taken for the robot to physically react to the constraints which is what would ordinarily trigger feedback to the teleoperator and (b) by cutting at least one step in the communication path, going directly from the constraint engine to the teleoperator instead of conventional systems that go from the constraint engine to the robot to the teleoperator. Other embodiments are described herein.",
  "assignees": [
    "CONTORO INC"
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    "KIM MINCHEOL",
    "NORMAND MICHAEL",
    "SPOSITO DANIEL",
    "VARGHESE ROHIT JOHN",
    "WARBURTON KEVIN",
    "YUN YOUNGMOK"
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  "title": "Safe and fast teleoperated control of robot manipulator with augmented human-in-the-loop",
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