Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution.

翻译：在机器人遥操作任务中，辅助式自主技术近年来在工业及家居环境中获得了广泛关注。此类系统通常采用多样化的输入设备。由于输入信号中的噪声（如脑机接口）或环境因素导致的延迟（如空间机器人遥操作），用户需要既能保持控制权、又能沿预设轨迹运动并规避障碍的辅助式自主能力。这种辅助能力要求活动表示方法既便于操作者定义，又能实时考虑动态环境状态。本文采用行为树表示日常生活活动，其固有的可读性和模块化特性使终端用户能够通过简洁的界面定义新活动。为此，我们在行为树中引入共享控制动作节点，通过引导用户输入沿优化轨迹运动，从而促进并保障任务执行。