Virtual fixtures can be either "guiding virtual fixtures" or "forbidden regions virtual fixtures". A forbidden regions virtual fixture could be used, for example, in a teleoperated setting where the operator has to drive a vehicle at a remote site to accomplish an objective. If there are pits at the remote site which would be harmful for the vehicle to fall into forbidden regions could be defined at the various pits locations, thus preventing the operator from issuing commands that would result in the vehicle ending up in such a pit.