Shared Control of Assistive Robotic Manipulators

Ding, Dan and Ka, Hyun and Chung, Chengshiu and Wang, Hongwu (2014) Shared Control of Assistive Robotic Manipulators. In: Intelligent Robots and Systems (IROS), IEEE International Workshop, 17 September 2014 - 17 September 2014, Chicago, IL.

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Abstract

The continuum of controlling an assistive robotic manipulator (ARM) ranges from manual control to full autonomy. Shared control of an ARM operates in the space between manual control and full autonomy. This paper reviews the status quo on shared control of ARMs. Though users and ARMs can divide responsibilities for a manipulation task in different ways, most research in this area focus on maximizing robot autonomy and minimizing user control, while other work split the responsibilities more evenly between the ARM and the user. User studies in this area are very limited. More research is needed to investigate the overall performance, workload, and satisfaction across different levels of autonomy for the shared control of ARMs.

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Details

Item Type:	Conference or Workshop Item (Paper)
Status:	Published
Creators/Authors:	Creators Email Pitt Username ORCID Ding, Dan dad5@pitt.edu DAD5 Ka, Hyun hyk21@pitt.edu HYK21 Chung, Chengshiu Wang, Hongwu how11@pitt.edu HOW11
Centers:	Other Centers, Institutes, Offices, or Units > Human Engineering Research Laboratories
Date:	17 September 2014
Date Type:	Publication
Access Restriction:	No restriction; Release the ETD for access worldwide immediately.
Journal or Publication Title:	Intelligent Robots and Systems (IROS), IEEE International Workshop
Publisher:	IEEE/IROS
Event Title:	Intelligent Robots and Systems (IROS), IEEE International Workshop
Event Dates:	17 September 2014 - 17 September 2014
Event Type:	Conference
Institution:	University of Pittsburgh
Schools and Programs:	School of Health and Rehabilitation Sciences > Rehabilitation Science and Technology
Refereed:	Yes
Date Deposited:	18 Nov 2015 15:29
Last Modified:	25 Aug 2017 04:59
URI:	http://d-scholarship.pitt.edu/id/eprint/26360

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