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Manufacturing requires consistent production rate and task success forsustainable operation. Some manufacturing tasks require a semi-autonomousapproach, exploiting the combination of human adaptability and machineprecision and speed, to be cost effective. The main contribution of this paperis a new approach to determine the level of autonomy for human-machine sharedcontrol based on the automation uncertainty. Moreover, the haptic feedback isscaled by the level of autonomy to indicate machine confidence to the operator.Experimentation results, with a human-robot peg-in-a-hole testbed, show morethan 5 times improvement in the error tolerance for task completion with theshared control approach when compared to a purely autonomous method.

Uncertainty-based Arbitration of Human-Machine Shared Control