@article {powell_task,
	title = {The Task-Dependent Efficacy of Shared-Control Haptic Guidance Paradigms},
	journal = {{IEEE} Transactions on Haptics},
	volume = {5},
	number = {3},
	year = {2012},
	pages = {208 {\textendash}219},
	abstract = {<p>Shared-control haptic guidance is a common form of robot-mediated training used to teach novice subjects to perform dynamic tasks. Shared-control guidance is distinct from more traditional guidance controllers, such as virtual fixtures, in that it provides novices with real-time visual and haptic feedback from a real or virtual expert. Previous studies have shown varying levels of training efficacy using shared-control guidance paradigms; it is hypothesized that these mixed results are due to interactions between specific guidance implementations ( {amp;\#x201C;paradigms} {amp;\#x201D;)} and tasks. This work proposes a novel guidance paradigm taxonomy intended to help classify and compare the multitude of implementations in the literature, as well as a revised proxy rendering model to allow for the implementation of more complex guidance paradigms. The efficacies of four common paradigms are compared in a controlled study with 50 healthy subjects and two dynamic tasks. The results show that guidance paradigms must be matched to a task{\textquoteright}s dynamic characteristics to elicit effective training and low workload. Based on these results, we provide suggestions for the future development of improved haptic guidance paradigms.</p>},
	issn = {1939-1412},
	doi = {10.1109/TOH.2012.40},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/J8Powell2012.pdf},
	author = {Powell, Dane and Marcia K. O{\textquoteright}Malley}
}
