Towards Universal Shared Control in Teleoperation Without Haptic Feedback*

Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories while actively suppressing liquid sloshing in a glass. The controller maintains 13 ms average planning latency, confirming real-time performance and motivating the augmentation of this teleoperation approach to further objectives.