Interface-Aware Assistance for 7-DoF Robot Arm Teleoperation: Case Studies on Feasibility

This paper details the development, implementation and experimental evaluation of an interface-aware, task-agnostic assistance system for shared human-robot teleoperation, specifically applied to a 7-DoF robotic arm. The system addresses a limitation of current shared-control methods by considering the impact of control interfaces on user input precision and the robot agent’s incomplete understanding of the human’s policy. The approach is evaluated in empirical case studies involving participants with spinal cord injuries. The personalized assistance system improves safety and reduces cognitive load.