A control apparatus includes a control unit that controls a movable unit in a specific control mode in which the movable unit is moved in an amount of movement input by a user according to input detected by an input detection unit in teaching of a robot. The input detection unit includes at least one of an electromagnetic sensor, a thermal sensor, a capacitance sensor, a magnetic sensor, an angular velocity sensor, an acceleration sensor, an ultrasonic sensor, and a current sensor.

Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.