  The traditional master-slave teleoperation relies on human expertise without
correction mechanisms, resulting in excessive physical and mental workloads. To
address these issues, a co-pilot-in-the-loop control framework is investigated
for cooperative teleoperation. A deep deterministic policy gradient(DDPG) based
agent is realised to effectively restore the master operators' intents without
prior knowledge on time delay. The proposed framework allows for introducing an
operator (i.e., co-pilot) to generate commands at the slave side, whose weights
are optimally assigned online through DDPG-based arbitration, thereby enhancing
the command robustness in the case of possible human operational errors. With
the help of interval type-2(IT2) Takagi-Sugeno (T-S) fuzzy identification,
force feedback can be reconstructed at the master side without a sense of
delay, thus ensuring the telepresence performance in the force-sensor-free
scenarios. Two experimental applications validate the effectiveness of the
proposed framework.
