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：在机器人臂远程操作任务中，机器人辅助技术近年来在工业和家庭环境中获得了广泛关注。此类系统中使用了多种输入设备。由于输入信号中的噪声（如脑机接口）或环境条件导致的延迟（如太空机器人远程操作），用户需要既能保持控制权又能沿预定轨迹运动并避开障碍物的辅助自主性。这种辅助要求活动表示方式易于操作者定义，并能考虑动态的世界状态。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通过简单界面定义新活动。为实现这一目标，我们在行为树中增强了共享控制动作节点，该节点通过轨迹引导用户输入，促进并确保任务执行。