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The classification and new trends of shared control strategies in telerobotic systems: A survey

Li, Gaofeng; Li, Qiang; Yang, Chenguang; Su, Yuan; Yuan, Zuqiang; Wu, Xinyu

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Authors

Gaofeng Li

Qiang Li

Yuan Su

Zuqiang Yuan

Xinyu Wu



Abstract

Shared control, which permits a human operator and an autonomous controller to share the control of a telerobotic system, can reduce the operator's workload and/or improve performances during the execution of tasks. Due to the great benefits of combining the human intelligence with the higher power/precision abilities of robots, the shared control architecture occupies a wide spectrum among telerobotic systems. Although various shared control strategies have been proposed, a systematic overview to tease out the relation among different strategies is still absent. This survey, therefore, aims to provide a big picture for existing shared control strategies. To achieve this, we propose a categorization method and classify the shared control strategies into 3 categories: Semi-Autonomous control (SAC), State-Guidance Shared Control (SGSC), and State-Fusion Shared Control (SFSC), according to the different sharing ways between human operators and autonomous controllers. The typical scenarios in using each category are listed and the advantages/disadvantages and open issues of each category are discussed. Then, based on the overview of the existing strategies, new trends in shared control strategies, including the “autonomy from learning” and the “autonomy-levels adaptation,” are summarized and discussed.

Journal Article Type Article
Acceptance Date Mar 4, 2023
Online Publication Date Mar 8, 2023
Publication Date Jun 30, 2023
Deposit Date Apr 24, 2023
Publicly Available Date Apr 25, 2023
Journal IEEE Transactions on Haptics
Print ISSN 1939-1412
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 16
Issue 2
Pages 118-133
DOI https://doi.org/10.1109/TOH.2023.3253856
Keywords Computer Science Applications, Human-Computer Interaction, Shared Control Strategy, Telerobotic System, Classification, Semi-Autonomous Control, Cooperative Control
Public URL https://uwe-repository.worktribe.com/output/10582554
Publisher URL https://ieeexplore.ieee.org/document/10064154

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Copyright Statement
This is the authors accepted manuscript of the article ‘Li, G., Li, Q., Yang, C., Su, Y., Yuan, Z., & Wu, X. (in press). The classification and new trends of shared control strategies in telerobotic systems: A survey. IEEE Transactions on Haptics, 1-17’. DOI: https://doi.org/10.1109/toh.2023.3253856

The final published version is available here: https://ieeexplore.ieee.org/document/10064154

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