# Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot
## 2 Background on Remote Robot Telecontrol  
In the scientific literature, there are a variety of proposals focused on mobile robot telecontrol. Some of these approaches are based on data gathered from the human body, which are adapted offline to the kinematic structure and constraints of the telecontrolled robot [32; 33; 34; 35; 36; 37; 38]. Other approaches are focused on imitating human motion [39] in real time [40]. In some of them, the lower body of the robot does not move [41; 42] or is only used for balancing [43; 44; 45], whereas some applications are focused on providing efficient and stable locomotion [46]. [PERSON] et al. [47] introduced a collaborative project to put assistive robot manipulators into homes to help people with disabilities. Researchers identified and developed assistive capabilities of the PR2 robot to develop a suite of open-source software tools that blend the capabilities of the robot and the user. The system interface mode consists of a screen with button-click inputs executed with a cursor on-screen controlled by users via a head tracker. [PERSON] et al. [48] proposed a real-time imitation of human body motions for the Nao robot based on registering human motion with an MVN Suit by Xsens (Enschede, The Netherlands). The system maps the motion to the robot end effectors while balancing the center of mass of the robots. In this case, the joints of the operator and the Nao robot are not equivalent, so the human motion had to be calibrated and mapped. [PERSON] et al. [49] developed a multimodal teleoperated assistive robot with real-time motion mimic. The system uses a NAO robot, a Kinect V2 sensor, a set of Meta Quest virtual reality glasses and Nintendo Switch controllers to implement communication between devices. The robot can operate under two configurations: using the Nintendo Switch controllers to drive the robot in long-distance travel and using the Kinect sensor and the virtual reality glasses to control the arm gestures and head orientation. In this case, the virtual reality glasses are also used to give image feedback to the operator. [PERSON] et al. [50] proposed a motion recognition framework based on a deep convolutional neural network for a Kinect-based Nao teleoperation. They developed an adaptive technique that dynamically balances the center of mass of the robot and allows whole-body imitation. The robot recognizes human motions and imitates them with an accuracy of 95%, which demonstrates that the scheme presented is robust and can be used in teleoperated robots. [PERSON] et al. [51] presented Marvin, an omnidirectional robotic assistant for domestic environments tailored to implement three target service functions: monitoring of elderly and reduced mobility users, remote presence and connectivity and night assistance. The platform can be controlled with a wireless gamepad and uses a lightweight deep-learning solution for visual perception and vocal command processing. [PERSON] et al. [52] presented a user interface for a semiautonomous assistive robot based on a mixed virtual 3D environment and sensor data. In this case, robot control is achieved using low-cost commodity hardware, with the optional addition of a 3D mouse and stereoscopic display. [PERSON] [53] proposed the combination of autonomous and virtual teleoperation technologies in robots to deal with complex situations in which the control system is unable to find the right solution to solve the problem. In such cases, the control to solve the problem is transferred to a remote operator that feels immersed in the operating scene of the robotic system. [PERSON] et al. [54] proposed an approach for intuitive and immersive teleoperation of a single robotic manipulator using a mixed reality subspace for visualization. In a similar direction, [PERSON] et al. [55] used six virtual reality trackers to teleoperate the upper body of a humanoid robot. The advantage of input devices implemented in virtual reality is that they are part of the virtual environment and no special input device is required [47; 56].