While assistive robot technology is quickly progressing, several challenges remain to make this technology truly usable and useful for humans. One of the aspects that is particularly important is in defining control protocols that allow both the human and the robot technology to contribute to the best of their abilities. In this paper we propose a framework for the collaborative control of a smart wheelchair designed for individuals with mobility impairments. Our approach is based on a decision-theoretic model of control, and accepts commands from both the human user and robot controller. We use a Partially Observable Markov Decision Process to optimize the collaborative action choice, which allows the system to take into account uncertainty in the user intent, in the command and in the environment. The system is deployed and validated on the SmartWheeler platform, and experiments with 8 users show the improvement in usability and navigation efficiency that are achieved with this form of collaborative control.
Keywords: First keyword; More; Second keyword.