  This paper introduces an innovative control approach for teleoperating a
robot in close proximity to a human operator, which could be useful to control
robots embedded on wheelchairs. The method entails establishing a virtual
connection between a specific body part and the robot's end-effector, visually
displayed through an Augmented Reality (AR) headset. This linkage enables the
transformation of body rotations into amplified effector translations,
extending the robot's workspace beyond the capabilities of direct one-to-one
mapping. Moreover, the linkage can be reconfigured using a joystick, resulting
in a hybrid position/velocity control mode using the body/joystick motions
respectively. After providing a comprehensive overview of the control
methodology, we present the results of an experimental campaign designed to
elucidate the advantages and drawbacks of our approach compared to the
conventional joystick-based teleoperation method. The body-link control
demonstrates slightly faster task completion and is naturally preferred over
joystick velocity control, albeit being more physically demanding for tasks
with a large range. The hybrid mode, where participants could simultaneously
utilize both modes, emerges as a compromise, combining the intuitiveness of the
body mode with the extensive task range of the velocity mode. Finally, we
provide preliminary observations on potential assistive applications using head
motions, especially for operators with limited range of motion in their bodies.
