  We seek to augment human manipulation by enabling humans to control two
robotic arms in addition to their natural arms using their feet. Thereby, the
hands are free to perform tasks of high dexterity, while the feet-controlled
arms perform tasks requiring lower dexterity, such as supporting a load. The
robotic arms are tele-operated through two foot interfaces that transmit
translation and rotation to the end effector of the manipulator. Haptic
feedback is provided for the human to perceive contact and change in load and
to adapt the feet pressure accordingly.
  Existing foot interfaces have been used primarily for a single foot control
and are limited in range of motion and number of degrees of freedom they can
control. This paper presents foot-interfaces specifically made for bipedal
control, with a workspace suitable for two feet operation and in five degrees
of freedom each. This paper also presents a position-force teleoperation
controller based on Impedance Control modulated through Dynamical Systems for
trajectory generation. Finally, an initial validation of the platform is
presented, whereby a user grasps an object with both feet and generates various
disturbances while the object is supported by the feet.
