The Novint Falcon 3D haptic controller is a handy tool that lets you feel weight, shape, and force while performing video games. As this video from Prof. Wael Suleiman shows, these solutions can be used to teleoperate robots such as Baxter. For this project, two Falcons were used with a stylus to form a 5DoF haptic device.
The operator can control the robot to pick up and manipulate objects. Camera feedback is available to users. More info about the Novint Falcon is available here.