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