Eye Gaze Tracking Based Interaction Method of an Upper-Limb Exoskeletal Rehabilitation Robot

Li, Quan‐Lin; Chen, Xiong; Li, Kai

doi:10.1007/978-3-319-65289-4_33

Cited by 3 publications

(2 citation statements)

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“…Gaze has been used successfully in the past as an interface for machines, particularly in human-computer interfaces [17], [18] and social robotics to monitor human attention, emotion and engagement [19]- [22] as well as robotic laparoscopic surgery [23]. When it comes to patients with movement disabilities, there is work on the use of gaze patterns in rehabilitation [24], for the control of 2 degrees of freedom in upper limb exoskeletons, where the patient uses gaze to direct the robot on a 2D surface. There is also work in assistive robotics in the form of tele-operated robots and wheelchairs controlled through gaze [25]- [29].…”

Section: Introductionmentioning

confidence: 99%

Gaze-based, Context-aware Robotic System for Assisted Reaching and Grasping

Shafti

Orlov

Faisal

2019

2019 International Conference on Robotics and Automation (ICRA)

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Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to simpler, higher level commands that are easy and intuitive for a human user to interact with. We have created a multimodal system, consisting of different sensing, decision making and actuating modalities, leading to intuitive, human-in-theloop assistive robotics. The system takes its cue from the user's gaze, to decode their intentions and implement low-level motion actions to achieve high-level tasks. This results in the user simply having to look at the objects of interest, for the robotic system to assist them in reaching for those objects, grasping them, and using them to interact with other objects. We present our method for 3D gaze estimation, and grammarsbased implementation of sequences of action with the robotic system. The 3D gaze estimation is evaluated with 8 subjects, showing an overall accuracy of 4.68±0.14cm. The full system is tested with 5 subjects, showing successful implementation of 100% of reach to gaze point actions and full implementation of pick and place tasks in 96%, and pick and pour tasks in 76% of cases. Finally we present a discussion on our results and what future work is needed to improve the system. Fig. 3: Geometric representation of the gaze angle and the camera frame, used for the 3D gaze point estimation.

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Section: Introductionmentioning

confidence: 99%

Gaze-based, Context-aware Robotic System for Assisted Reaching and Grasping

Shafti

Orlov

Faisal

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Using eye tracking device will also benefit the people with disability. In [10], upper-limb rehabilitation robot is developed which allows stroke patient to guide the movement of the exoskeleton robot during a rehabilitation session.…”

Section: Introductionmentioning

confidence: 99%

Application of Visual Servoing and Eye Tracking Glass in Human Robot Interaction: A case study

Shi

Copot

Vanlanduit

2019

2019 23rd International Conference on System Theory, Control and Computing (ICSTCC)

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Human gazes reveal a lot of information about their intention, which could be used for intuitive Human Robot Interaction(HRI). Using gaze as a modality to interact with robots has huge value in increasing freedom for human. It has a strong application potential in different domains. In this paper, we propose a system for eye tracking based HRI with which a human can select an object by his/her gaze and a robot manipulator receives the intended object and waits for the confirmation from the human before it starts the grasping task. We use Image-based Visual Servoing (IBVS) to guide the robot manipulator to perform the grasping automatically which can also bring more robustness to the system. The first hand results indicate that the use of both visual servoing features and eye tracking technique can provide successful results in term of human robot interaction.

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