to make complex robotic systems easier to operate in environments where remote handling is required. Robotic arms are increasingly being considered for decommissioning activities ranging from sample preparation and waste sorting to operations inside gloveboxes. However, controlling a six-axis robot can require considerable skill, particularly when manipulating small pieces of potentially radioactive material. The DTIL system introduces a software layer between the operator and the robot; rather than transmitting commands directly from a handheld controller, the operator's instructions pass through a digital mediator before being sent to the robotic system. The mediator can assess control inputs and modify them where necessary to account for likely operator intent. For example, if an operator moves a robotic arm towards a wall or releases an object at the wrong time, the system can alter the command to prevent the action from taking place.