Towards equitable shared control

Abstract Shared human-machine control systems are critical to realising assistive technologies that empower users to enhance their level of independence, and quality of life. In this paper, we present an overview of the state-of-the-art in equitable shared control for assistive robotics, drawing upon examples from our own work, applied to both smart wheelchair applications and the brain-machine interface domain. In particular, we focus on three themes: personalised control optimisation; understanding interactions with the environment; and supporting users to maintain control authority. Through these concepts we demonstrate the potential of equitable shared control systems and argue for future research into more dynamic policies that continue to support users as their needs evolve in the long-term.