Comparing Two Safe Distance Maintenance Algorithms for a Gaze-Controlled HRI Involving Users with SSMI
Vinay Sharma, L. R. D. Murthy, Pradipta Biswas · ACM Transactions on Accessible Computing · 2022
People with severe speech and motor impairment often find it difficult to manipulate physical objects due to spasticity and have familiarity with eye pointing based communication. This article presents a novel eye gaze controlled augmented reality human-robot interface that maintains a safe distance of the robot from the operator. We used a bespoke appearance-based eye gaze tracking algorithm and compared two different safe distance maintenance algorithms. We undertook simulation studies followed by a user trial involving end users. Users with severe speech and motor impairment could bring the robotic arm at any designated point within its working envelope in less than 3 minutes.