Experiment 2 scenarios; lower figures display initial configurations, while upper figures depict motion along the 10 cm paths. The path in Exp. 2.1 and Exp. 2.3 is to the left of the operator (along the robot's x-axis), while in Exp. 2.2, it is toward the operator (along the robot's y-axis). Manipulability ellipsoids and their principal radii are shown for operator arm initial configurations. To enhance detail, ellipsoids are presented at half their actual size.

A new T-RO paper presents an adaptive approach for combining robot precision with human guidance in geometrically-constrained scenarios, featuring online adaptation capabilities.
ieeexplore.ieee.org/document/108...

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