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Shared autonomy in assistive mobile robots: a review
Sumukha Udupa1,2, Vineet R Kamat1,2, Carol C Menassa1,2
1Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA.
Disability and Rehabilitation. Assistive Technology
|June 16, 2021
Summary
Shared autonomy in assistive robots balances user needs and system function. Future research must enhance safety and environmental adaptability for wider adoption.
Area of Science:
- Assistive robotics
- Human-robot interaction
- Control systems
Background:
- Shared autonomy paradigms in assistive mobile robotics aim to balance user satisfaction and system performance by adapting to individual needs.
- Despite advancements, widespread adoption of shared control is limited due to immature integral aspects.
- This review discusses shared control aspects and enabling technologies for assistive mobile robots.
Approach:
- A comprehensive literature review was conducted, dividing studies into pre-2000 and post-2000 periods.
- A systematic review of 135 research and 7 review papers was performed.
- A 6-level ladder categorization was developed to organize shared autonomy levels in assistive mobile robots.
Key Points:
- Prior studies predominantly focused on basic functionalities, indicating a need to advance towards higher levels of shared autonomy.
- A taxonomy highlights chronological improvements in shared autonomy for assistive mobile robots.
- The review identifies key areas for future research and development.
Conclusions:
- Further research should prioritize ensuring mobility safety and adaptability to diverse environments.
- Shared autonomy is crucial for adapting assistive robots to ensure user safety and comfort.
- Future development must incorporate user desires into decision-making for effective human control.
