Effects of Shared Control on Cognitive Load and Trust in Teleoperated Trajectory Tracking

Abstract

Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot controller to assist the human in executing such challenging tasks, a comprehensive understanding of the interplay between the robot's autonomous behavior and the operator's internal state is essential. In this letter, we investigate the relationships between robot autonomy and both the human user's cognitive load and trust levels, and the potential existence of three-way interactions in the robot-assisted execution of the task. Our user study (N = 24) re..