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A Topology of Shared Control Systems—Finding Common Ground in Diversity

Abbink, DA; Carlson, T; Mulder, M; De Winter, JCF; Aminravan, F; Gibo, TL; Boer, ER; (2018) A Topology of Shared Control Systems—Finding Common Ground in Diversity. IEEE Transactions on Human-Machine Systems , 48 (5) pp. 509-525. 10.1109/THMS.2018.2791570. Green open access

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Abstract

Shared control is an increasingly popular approach to facilitate control and communication between humans and intelligent machines. However, there is little consensus in guidelines for design and evaluation of shared control, or even in a definition of what constitutes shared control. This lack of consensus complicates cross fertilization of shared control research between different application domains. This paper provides a definition for shared control in context with previous definitions, and a set of general axioms for design and evaluation of shared control solutions. The utility of the definition and axioms are demonstrated by applying them to four application domains: automotive, robot-assisted surgery, brain–machine interfaces, and learning. Literature is discussed for each of these four domains in light of the proposed definition and axioms. Finally, to facilitate design choices for other applications, we propose a hierarchical framework for shared control that links the shared control literature with traded control, co-operative control, and other human–automation interaction methods. Future work should reveal the generalizability and utility of the proposed shared control framework in designing useful, safe, and comfortable interaction between humans and intelligent machines.

Type: Article
Title: A Topology of Shared Control Systems—Finding Common Ground in Diversity
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/THMS.2018.2791570
Publisher version: https://doi.org/10.1109/THMS.2018.2791570
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Task analysis, Control systems, Mobile robots, Automation, Automotive engineering, Robot sensing systems, Human–automation interaction, human–machine interaction, human–robot interaction (HRI), shared control, supervisory control, traded control cooperation
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/10041044
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