  Robotic assistance in robot arm teleoperation tasks has recently gained a lot
of traction in industrial and domestic environment. A wide variety of input
devices is used in such setups. Due to the noise in the input signals (e.g.,
Brain Computer Interface (BCI)) or delays due to environmental conditions
(e.g., space robot teleoperation), users need assistive autonomy that keeps
them in control while following predefined trajectories and avoids obstacles.
This assistance calls for activity representations that are easy to define by
the operator and able to take the dynamic world state into consideration. This
paper represents Activities of Daily Living using Behavior Trees (BTs) whose
inherent readability and modularity enables an end user to define new
activities using a simple interface. To achieve this, we augment BTs with
Shared Control Action Nodes, which guide the user's input on a trajectory
facilitating and ensuring task execution.
