The goal of this dissertation is to develop models, algorithms, and interaction protocols to improve the efficacy and quality of Human-Autonomy Interaction (HAI) in the domain of assistive robotics. In this domain, the most common control paradigm is that of manual teleoperation using control interfaces such as joysticks, switch-based head...
Assistive robotics focuses on human-robot systems that provide physical support and assistance to the elderly and people with motor-impairments. While assistive machines, such as the powered wheelchair, can significantly enhance the functional independence of individuals, many users are challenged by their direct operation, the manner in which such systems are...