Semi-Autonomous Control Framework Based on User-Centered Design for Teleoperated Systems

In current research on teleoperated systems, semi-autonomous control has gained significant attention due to its ability to bridge human intent and machine action effectively. This control method facilitates a more fluid interaction between humans and robots, enabling more complex and nuanced tasks. However, most semi-autonomous strategies primarily focus on advanced technologies designed for expert users, which hinders broader adoption of the teleoperated system among non-experts. This paper introduces a semi-autonomous control framework grounded in user-centered design principles to establish an intuitive interface that reduces user confusion and enhances the overall user experience. Firstly, the limitations of current semi-autonomous control methods are concluded by comparing the various control strategies within teleoperated systems. Secondly, the proposed framework utilizes an intuitive control method and a collision avoidance algorithm, which enhance human performance during the teleoperated process. Finally, a case study based on the teleoperated grasping system is adopted to demonstrate the proposed framework’s flexibility and accessibility.