  The teleoperation of robots enables remote intervention in distant and
dangerous tasks without putting the operator in harm's way. However, remote
operation faces fundamental challenges due to limits in communication delays.
The proposed work improves the performances of teleoperation architecture based
on Fractal Impedance Controller (FIC) by integrating into the haptic
teleoperation pipeline a postural optimisation that also accounts for the
replica robots' physical limitations. This update improves dynamic interactions
by trading off tracking accuracy to maintain the system within its power
limits. Thus, allowing fine manipulation without renouncing the robustness of
the FIC controller. Additionally, the proposed method allows an online
trade-off between tracking the autonomous trajectory and executing the
teleoperated command, allowing their safe superimposition. The validated
experimental results show that the proposed method is robust to increased
communication delays. Moreover, we demonstrated that the remote teleoperated
robot remains stable and safe to interact with, even when the communication
with the master side is abruptly interrupted. with, even when the communication
with the master side is abruptly interrupted.
