Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of the joystick and human arm affect the robot's behavior. We propose a cooperative framework coupling a joystick-independent autonomous controller with HSC. A control barrier function ignores joystick inputs within a safe region determined by the human operator in real-time, while HSC is engaged otherwise. A pilot experiment on simulated tasks with tele-operated underwater robot in virtual environment demonstrated improved accuracy and reduced required time over conventional HSC.

翻译：在完全自主控制受限于不确定性或感知约束时，触觉共享控制（HSC）在遥操作中具有显著效果。然而，通过最大化HSC强度实现的自主控制性能存在局限，因为操纵杆与人类手臂的动力学特性会影响机器人行为。本文提出一种协同框架，将独立于操纵杆的自主控制器与HSC相耦合。控制屏障函数可实时忽略由人类操作者确定的安全区域内的操纵杆输入，而在其他情况下则启用HSC。通过在虚拟环境中对遥操作水下机器人进行模拟任务的初步实验表明，相较于传统HSC方法，该框架在提升操作精度和缩短任务耗时方面均取得改进。