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In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability. Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely...
This paper presents a study on human performance when people are assisted by a purely reactive navigation control system. The goal of such a system is to achieve collaborative human/robot navigation, so that the human driver is always in control but his/her performance is improved by the machine. This Shared Control approach is meant to be implemented on a power robotic wheelchair, so it is important...
Autonomous robots are capable of navigating on their own. In some cases, though, it is interesting to allow humans to influence navigation. Shared control is typically achieved either by giving control to the human or the robot at some specific situations. In this work, we propose a method to share control between humans and robots at each point of a given trajectory, so that both have weight in the...
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