Before revision:  Current analysis is often hindered due to difficulties in estimating human posture . We introduce a new approach to the problem of human posture estimation for teleoperation tasks which relies solely on a haptic-input device for generating observations.
After revision:  Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate if the leader robot is an adequate sensor for posture estimation in teleoperation and we introduce a new probabilistic approach which relies solely on a haptic-input device for generating observations.