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In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability. Robot wheelchairs, though, are not supposed to be completely in control because lack of human intervention may lead to loss of residual capabilities and frustration. Most of these systems rely on shared control, which typically consists of swapping control from human to robot when needed.doi:10.1007/s10514-010-9211-2 fatcat:fm4pakxgtfczppfs37yioerxh4