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+This is an implementation (mainly Matlab Simulink) of the haptic interface for teleoperation described in 
+
+Ghazaei Ardakani, M. M., M. Karlsson, K. Nilsson, A. Robertsson, and R.Johansson (2018). “Master-slave coordination using virtual constraintsfor a redundant dual-arm haptic interface”. In:IEEE/RSJ Interna-tional Conference on Intelligent Robots and Systems (IROS). October1–5, Madrid, Spain, pp. 8751–8757.
+
+Compile Simulink file:
+Open teleoperation.mdl
+Click on red box (you may have to adjust paths. You also need dynamics, see below.)
+Press ctrl+B to build (c-code is generated and compiled)
+An executable is generated into /tmp/$USER
+
+You also need the robot dynamics for this. It is not public. Please contact Congibotics.
+