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With the continuous advancement of robot teleoperation technology, sharedcontrol is used to reduce the physical and mental load of the operator inteleoperation system. This paper proposes an alternating shared controlframework for object grasping that considers both operator's preferencesthrough their manual manipulation and the constraints of the follower robot.The switching between manual mode and automatic mode enables the operator tointervene the task according to their wishes. The generation of the graspingpose takes into account the current state of the operator's hand pose, as wellas the manipulability of the robot. The object grasping experiment indicatesthat the use of the proposed grasping pose selection strategy leads to smootherfollower movements when switching from manual mode to automatic mode.

Human Preferences and Robot Constraints Aware Shared Control for Smooth Follower Motion Execution