  With the continuous advancement of robot teleoperation technology, shared
control is used to reduce the physical and mental load of the operator in
teleoperation system. This paper proposes an alternating shared control
framework for object grasping that considers both operator's preferences
through their manual manipulation and the constraints of the follower robot.
The switching between manual mode and automatic mode enables the operator to
intervene the task according to their wishes. The generation of the grasping
pose takes into account the current state of the operator's hand pose, as well
as the manipulability of the robot. The object grasping experiment indicates
that the use of the proposed grasping pose selection strategy leads to smoother
follower movements when switching from manual mode to automatic mode.
