Understanding Shared Control for Assistive Robotic Arms

TL;DR

This paper reviews shared control methods for assistive robotic arms, emphasizing the importance of simplifying control schemes, improving pick-and-place functionalities, and enhancing communication of user intent to support independent living for people with motor impairments.

Contribution

It provides an overview of shared control approaches, highlighting key themes and future research directions to improve usability of assistive robotic arms.

Findings

Shared control approaches can reduce complexity in robotic arm operation.

Effective pick-and-place functionalities are crucial for assistive tasks.

Communicating user intent enhances control intuitiveness.

Abstract

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly robotic arms - are frequently deployed in domestic care, empowering people with motor impairments in performing ADLs independently. However, while assistive robotic arms can help them perform ADLs, currently available controls are highly complex and time-consuming due to the need to control multiple DoFs at once and necessary mode-switches. This work provides an overview of shared control approaches for assistive robotic arms, which aim to improve their ease of use for people with motor impairments. We identify three main takeaways for future research: Less is More, Pick-and-Place Matters, and Communicating Intent.