Intent-based Task-Oriented Shared Control for Intuitive Telemanipulation

The unique challenges in shared control for telemanipulation-beyond teleoperation-include physical discrepancy between human and robot hands and the fine manipulation constraints needed for task success. We present an intuitive shared-control strategy that generates robotic grasp poses better suited for human perception of success and feeling of control while ensuring a stable grasp for task success. The robot's motion follows an arbitration between following the user's motion constraints and accomplishing the inferred task. The arbitration adapts based on the physical discrepancy between the human and robot hands. We have conducted a user study with a telemanipulation scenario to analyze the effects of task predictability, following, and user preference. The results demonstrated that intent-based approaches provide advantages over direct motion mapping strategies.