Caring About the Human Operator: Haptic Shared Control for Enhanced User Comfort in Robotic Telemanipulation.

Haptic shared control enables a human operator and an autonomous controller to share the control of a robotic system using haptic active constraints. It has been used in robotic teleoperation for different purposes, such as navigating along paths minimizing the torques requested to the manipulator or avoiding possibly dangerous areas of the workspace. However, few works have focused on using these ideas to account for the user's comfort.