The Effect of Trial-by-Trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks.

Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort, or even deteriorated performance. This study investigates ways to reduce conflicts between individual human operators and a haptic shared controller by modifying supported trajectories.