# A Hybrid Mapping Method with Position and Stiffness for Manipulator Teleoperation  
[PERSON]  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin 150001, China; [EMAIL_ADDRESS] (F.N.); [EMAIL_ADDRESS] (D.Y.); [EMAIL_ADDRESS] (C.L.); [EMAIL_ADDRESS] (F.Y.); [EMAIL_ADDRESS] (H.L.)  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin 150001, China; [EMAIL_ADDRESS] (F.N.); [EMAIL_ADDRESS] (D.Y.); [EMAIL_ADDRESS] (H.L.)  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China; [EMAIL_ADDRESS] (F.N.); [EMAIL_ADDRESS] (D.Y.); [EMAIL_ADDRESS] (H.L.)  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin 150001, China; [EMAIL_ADDRESS] (F.N.); [EMAIL_ADDRESS] (D.Y.); [EMAIL_ADDRESS] (H.L.)  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin 150001, China; [EMAIL_ADDRESS] (F.N.); [EMAIL_ADDRESS] (D.Y.); [EMAIL_ADDRESS] (H.L.)  
1 State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China; fhni@hit.  
The impedance control is important for manipulator to generate compliant behavior in performing contact tasks with dynamic uncertainties [12]. Since motion trajectory transfer in traditional teleoperation systems could not generate the desired stiffness, it is difficult to enable a robot manipulator to operate in a variable compliant manner to handle the variation of tasks and environmental uncertainties [13]. However, the manipulator could have a better performance by learning human impedance featured skills, such as calligraphic writing [14], welding [15], and switching [16].  
Transferring the impedance regulation of human arm endpoint to control the impedance of remote manipulators to execute tasks with large uncertainties is challenging and has been studied in recent years. [PERSON] [17] presented the concept of tele-impedance for teleoperating a KUKA manipulator stiffness based on arm stiffness estimation from the sEMG electrodes, and a ball catching experiment showed the effectiveness of the method. [PERSON] [18,19] designed an interface of a physical human robot interaction system for human impedance adaptive skill transfer, in which the limb impedance could be extracted and transferred to robots by processing the sEMG signals. [PERSON] [20] presented a framework of tele-impedance with force feedback under communication time delay, which could have a seamless control scheme that subsumes the performance advantages of both stability and transparency.  
This paper is organized as follows. The background and related research are introduced in Section 1. In Section 2, the system overview of the hybrid mapping method for manipulator teleoperation is proposed. In Section 3, the motion mapping method for position teleoperation which includes the fixed scale mapping in free space and virtual impedance mapping in fine space is given. The stiffness mapping for compliant teleoperation is presented in Section 4. The performance evaluation for position teleoperation and impedance teleoperation is given in Section 5. Lastly, the conclusion and future works are discussed.