# Adaptive Control in Assistive Application -- A Study Evaluating Shared Control by Users with Limited Upper Limb Mobility

arXiv: https://arxiv.org/abs/2406.06103 · HTML: https://mlsanity.com/paper/2406.06103/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 51 references that are in the map.
- First posted on arXiv 10 Jun 2024.

## Builds on (most cited first, 6 of 6)

- [Shared Autonomy via Deep Reinforcement Learning](https://mlsanity.com/paper/1802.01744/) (2018)
- [How to Communicate Robot Motion Intent: A Scoping Review](https://mlsanity.com/paper/2303.00362/) (2023)
- [A Quantitative Analysis of Activities of Daily Living: Insights into Improving Functional Independence with Assistive Robotics](https://mlsanity.com/paper/2104.03892/) (2021)
- [In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms](https://mlsanity.com/paper/2307.02933/) (2023)
- [AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics](https://mlsanity.com/paper/2310.15887/) (2023)
- [Exploring of Discrete and Continuous Input Control for AI-enhanced Assistive Robotic Arms](https://mlsanity.com/paper/2401.07118/) (2024)

## Abstract (arXiv)

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically tailored for individuals with upper limb impairments. It employs a between-subjects analysis with 24 participants, conducting 81 trials across three distinct input devices in a realistic everyday-task setting. Given the diverse capabilities of the vulnerable target demographic and the known challenges in statistical comparisons due to individual differences, the study focuses primarily on subjective qualitative data. The results reveal consistently high success rates in trial completions, irrespective of the input device used. Participants appreciated their involvement in the research process, displayed a positive outlook, and quick adaptability to the control system. Notably, each participant effectively managed the given task within a short time frame.