Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly robotic arms - are frequently deployed in domestic care, empowering people with motor impairments in performing ADLs independently. However, while assistive robotic arms can help them perform ADLs, currently available controls are highly complex and time-consuming due to the need to control multiple DoFs at once and necessary mode-switches. This work provides an overview of shared control approaches for assistive robotic arms, which aim to improve their ease of use for people with motor impairments. We identify three main takeaways for future research: Less is More, Pick-and-Place Matters, and Communicating Intent.

翻译：独立于人类护理人员或全自主机器人，过上自主决定的生活，是保障运动障碍人士人格尊严和维持自我价值的关键因素。辅助机器人解决方案——尤其是机器人手臂——常被部署在居家护理中，赋予运动障碍人士独立完成日常生活活动的能力。然而，尽管辅助机器人手臂能帮助他们执行日常生活活动，但由于需要同时控制多个自由度并频繁进行模式切换，目前可用的操控方式极为复杂且耗时。本文概述了针对辅助机器人手臂的共享控制方法，旨在提升其对运动障碍人士的易用性。我们提炼出未来研究的三大关键启示：少即是多、抓取与放置至关重要、以及意图沟通。