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Independent mobility is important for the self-esteem and well-being of people with mobility impairments. For people with severe disabilities, there is a body of research investigating how best to share control of motion between a person with disabilities and a "smart wheelchair". Traditionally in "shared control", the control law is a linear combination of the human's intended velocity and the path planner's velocity. However, this formulation of sharing control between a human and a machine does not guarantee safety on a theoretical level. To guarantee safety in formulating the blending of the human's input velocity and planner's velocity, we implement a practical form of probabilistic shared control formulated by Trautman. We tested this shared control by conducting experiments in a simulation where participants drive a wheelchair. The results of the experiment suggest probabilistic shared control has similar …