A Collaborative Robotic Approach to Gaze-Based Upper-Limb Assisted Reaching

Fortini, Luca; Balatti, Pietro; Lamon, Edoardo; Momi, Elena De; Ajoudani, Arash

doi:10.1109/iwobi47054.2019.9114485

Cited by 1 publication

(1 citation statement)

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“…Based on the nearest neighbor search (NNS) algorithm [19], at each iteration, the measured gaze information in {S}, p S , is compared with the stored data in S uv during gaze fixation time T f ix (time-period in which the eye is kept aligned around a certain point located at the screen, which is dependent on the person who carries out the experiment, and it usually ranges in 2 to 4 seconds [20]). If the shortest Euclidean distance between p S and a particular s uv i ∈ S uv is lower than a selected threshold (d tsh ) during T f ix , s uv i is chosen as the intended pixel-space goal.…”

Section: A Target Detectionmentioning

confidence: 99%

A Shared-Autonomy Approach to Goal Detection and Navigation Control of Mobile Collaborative Robots

Gholami

Garate

Momi

et al. 2020

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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Autonomous goal detection and navigation control of mobile robots in remote environments can help to unload human operators from simple, monotonous tasks allowing them to focus on more cognitively stimulating actions. This can result in better task performances, while creating user-interfaces that are understandable by non-experts. However, full autonomy in unpredictable and dynamically changing environments is still far from becoming a reality. Thus, teleoperated systems integrating the supervisory role and instantaneous decisionmaking capacity of humans are still required for fast and reliable robotic operations. This work presents a novel sharedautonomy framework for goal detection and navigation control of mobile manipulators. The controller exploits human-gaze information to estimate the desired goal. This is used together with control-pad data to predict user intention, and to activate the autonomous control for executing a target task. Using the control-pad device, a user can react to unexpected disturbances and halt the autonomous mode at any time. By releasing the control-pad device (e.g., after avoiding an instantaneous obstacle) the controller smoothly switches back to the autonomous mode and navigates the robot towards the target. Experiments for reaching a target goal in the presence of unknown obstacles are carried out to evaluate the performance of the proposed shared-autonomy framework over seven subjects. The results prove the accuracy, time-efficiency, and ease-of-use of the presented shared-autonomy control framework.

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Section: A Target Detectionmentioning

confidence: 99%