Fluid 6DOF teleoperation of robot manipulators enables telemanipulation where autonomy is not possible, facilitates the collection of demonstration data, and aids routine robotics development. Amongst 6DOF input devices, 3D mice stand apart for their ergonomic design and low cost, but their sensitivity and users' relative inexperience with them require special design considerations. We contribute a web software package that makes integrating 3D mice in robot manipulation interfaces easy. The package consists of configurable input signal processing schemes that can make the device more forgiving by, for instance, rejecting small inputs or emphasizing a dominant axis, and an interactive visual representation of the device's 6DOF twist input, which helps with operator familiarization and provides a visual aide during teleoperation. We provide a demonstration interface illustrating a typical integration with a ROS/ROS2 robot system and give usage advice based on our research experience.

Mobile manipulator robots, which can move around and physically interact with their environments, can empower people with motor limitations to independently carry out many activities of daily living. While many interfaces have been developed for tele-operating complex robots, most of them are not accessible to people with severe motor limitations. Further, most interfaces are rigid with limited configurations and are not readily available to download and use. To address these barriers, we developed AccessTeleopKit: an open-source toolkit for creating custom and accessible robot tele-operation interfaces based on cursor-and-click input for the Stretch 3 mobile-manipulator. With AccessTeleopKit users can add, remove, and rearrange components such as buttons and camera views, and select between a variety of control modes. We describe the participatory and iterative design process that led to the current implementation of AccessTeleopKit, involving three long-term deployments of the robot in the home of a quadriplegic user. We demonstrate how AccessTeleopKit allowed the user to create different interfaces for different tasks and the diversity of tasks it allowed the user to carry out. We also present two studies involving six additional users with severe motor limitations, demonstrating the power of AccessTeleopKit in creating custom interfaces for different user needs and preferences.