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The simulator is capable of operation in the conventional rate\u2010control, master\/slave control, and a data\u2010driven preprogrammed mode of operation. It has teach\/playback capability, which allows an operator to generate joint commands for real\u2010time teleoperation. For high\u2010level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. In this article, an object detection strategy that has been implemented in the simulator for more realistic telemanipulation is presented. The object detection technique is based on the use of superellipsoids, which have a convenient inside\u2010outside function for interference testing. The technique, which treats both moving and stationary objects in a consistent manner, has proved to be easy to implement and optimize for real\u2010time applications. The object detection feature is also used to provide visual feedback as a low\u2010cost force reflection strategy.<\/jats:p>","DOI":"10.1002\/rob.4620100102","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:18:25Z","timestamp":1183727905000},"page":"1-22","source":"Crossref","is-referenced-by-count":1,"title":["Objects interaction using superquadrics for telemanipulation system simulation"],"prefix":"10.1002","volume":"10","author":[{"given":"Emmanuel I.","family":"Agba","sequence":"first","affiliation":[]},{"given":"Tin\u2010Lup","family":"Wong","sequence":"additional","affiliation":[]},{"given":"Ming Z.","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Andrew M.","family":"Clark","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"issue":"8","key":"e_1_2_1_2_2","first-page":"66","article-title":"Looking closer at manipulator performance","volume":"27","author":"Parrot G.","year":"1986","journal-title":"Sea Technology"},{"key":"e_1_2_1_3_2","first-page":"87","volume-title":"Proc. of the Workshop on Space Telerobotics","author":"Brown R.","year":"1987"},{"key":"e_1_2_1_4_2","unstructured":"A. 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