K. P. Tee and Y. Wu, "Experimental Evaluation of Divisible Human-Robot Shared Control for Teleoperation Assistance," TENCON 2018 - 2018 IEEE Region 10 Conference, Jeju, Korea (South), 2018, pp. 0182-0187. doi: 10.1109/TENCON.2018.8650436
Abstract:
This paper is concerned with divisible shared control, which decomposes the motion space into complementary
subspaces and distributes the control to the human and the robot so that each can independently effect motion control in its subspace. We present a divisible shared control scheme to assist teleoperation tasks on a curved object surface, which is difficult for a human to perform without assistance. We designed and carried an experiment to investigate its effect of user performance and work load. Experimental evaluation, based on both quantitative and qualitative measures, suggests that divisible shared control improves accuracy, speed, and
smoothness, while at the same time reduces cognitive load, effort, and frustration.