  Hand guidance of robots has proven to be a useful tool both for programming
trajectories and in kinesthetic teaching. However hand guidance is usually
relegated to robots possessing joint-torque sensors (JTS). Here we propose to
extend hand guidance to robots lacking those sensors through the use of an
Augmented Reality (AR) device, namely Microsoft's Hololens. Augmented reality
devices have been envisioned as a helpful addition to ease both robot
programming and increase situational awareness of humans working in close
proximity to robots. We reference the robot by using a registration algorithm
to match a robot model to the spatial mesh. The in-built hand tracking
capabilities are then used to calculate the position of the hands relative to
the robot. By decomposing the hand movements into orthogonal rotations we
achieve a completely sensorless hand guidance without any need to build a
dynamic model of the robot itself. We did the first tests our approach on a
commonly used industrial manipulator, the KUKA KR-5.
