Fig. 4

The predictive display and the pouring process. The predictive display overlays the white ring on the beaker indicating the intended liquid height. The visual feedback loop is closed on the leader side without time delay, then the shared control automatically completes the pouring action until the intended liquid height is achieved. The sub-figure a shows the approaching and automatic position alignment, b the operator starts pouring action, c the white ring goes up to indicate the liquid height, d the operator adjusts the white ring to the targeted height, e the white ring reaches the targeted height, the operator stops the pouring while the shared control completing the pouring action, f liquid is being poured automatically, g pouring is finished and the liquid reached the intended height, h recover to the initial position