Characterizing efficiency of human robot interaction: a case study of shared-control teleoperation

Human-robot interaction is becoming an increasingly important research area. In this paper, we present a theoretical characterization of interaction efficiency with an aim towards designing a human-robot system with adjustable robot autonomy. In our approach, we analyze how modifying robot control schemes for a given autonomy mode can increase system performance and decrease workload demands on the human operator. We then perform a case study of the design of a shared-control teleoperation scheme and compare interaction efficiency against a traditional manual-control teleoperation scheme.