{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,26]],"date-time":"2026-10-26T13:15:19Z","timestamp":1793020519746,"version":"4.5.0"},"reference-count":22,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T00:00:00Z","timestamp":1771459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Interactive teleoperation offers an intuitive pathway for human\u2013robot interaction, yet many existing systems rely on dedicated sensors or wearable devices, limiting accessibility and scalability. This paper presents a vision-based teleoperation framework that enables real-time control of an articulated robotic arm (five joints plus a gripper actuator) using human hand tracking from a single, typical laptop camera. Hand pose and gesture information are extracted using a real-time landmark estimation pipeline, and a set of compact kinematic descriptors\u2014palm position, apparent hand scale, wrist rotation, hand pitch, and pinch gesture\u2014are mapped to robotic joint commands through a calibration-based control strategy. Commands are transmitted over a lightweight network interface to an embedded controller that executes synchronized servo actuation. To enhance stability and usability, temporal smoothing and rate-limited updates are employed to mitigate jitter while preserving responsiveness. In a human-in-the-loop evaluation with 42 participants, the system achieved an 88% success rate (37\/42), with a completion time of 53.48 \u00b1 18.51 s, a placement error of 6.73 \u00b1 3.11 cm for successful trials (n = 37), and an ease-of-use score of 2.67 \u00b1 1.20 on a 1\u20135 scale. Results indicate that the proposed approach enables feasible interactive teleoperation without specialized hardware, supporting its potential as a low-cost platform for robotic manipulation, education, and rapid prototyping.<\/jats:p>","DOI":"10.3390\/biomimetics11020151","type":"journal-article","created":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T08:51:09Z","timestamp":1771491069000},"page":"151","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Interactive Teleoperation of an Articulated Robotic Arm Using Vision-Based Human Hand Tracking"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6694-2883","authenticated-orcid":false,"given":"Marius-Valentin","family":"Dr\u0103goi","sequence":"first","affiliation":[{"name":"Faculty of Industrial Engineering and Robotics, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-8301-942X","authenticated-orcid":false,"given":"Aurel-Viorel","family":"Frimu","sequence":"additional","affiliation":[{"name":"Faculty of Engineering in Foreign Languages, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7982-8295","authenticated-orcid":false,"given":"Andrei","family":"Postelnicu","sequence":"additional","affiliation":[{"name":"Faculty of Industrial Engineering and Robotics, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roxana-Adriana","family":"Puiu","sequence":"additional","affiliation":[{"name":"Faculty of Industrial Engineering and Robotics, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-6691-6360","authenticated-orcid":false,"given":"Gabriel","family":"Petrea","sequence":"additional","affiliation":[{"name":"Faculty of Industrial Engineering and Robotics, National University of Science and Technology POLITEHNICA Bucharest, 060042 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexandru","family":"Hank","sequence":"additional","affiliation":[{"name":"National Research and Development Institute for Gas Turbines COMOTI, 061126 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,2,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kaczmarek, W., Panasiuk, J., Borys, S., and Banach, P. 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