Experimental Evaluation of Divisible Human-Robot Shared Control for Teleoperation Assistance

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.