Fig. 1: State-of-the-art map of remote control approaches.

Unconstrained methods are used for fixed-shape low-DoF systems performing a few specific tasks. It becomes increasingly important for high risk operations to autonomously handle system and environment constraints as part of control, as is done in telesurgery, remote exploration, and our method. Highly multi-functional systems require sophisticated joystick solutions to efficiently specify intended motion such as for human motion retargeting, virtual interface, gesture-based methods, or the proposed method (JoJo). Furthermore, our work proposes the first single method for safeguarded and straightforward remote control of a diverse set of MR morphologies, bridging the gap in remote control solutions for systems with variable applications, morphologies, and DoFs.