MIHRaGe: A Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control

TL;DR

This paper introduces MIHRaGe, a mixed-reality gaze-controlled interface for assistive robotics, demonstrating promising accuracy and success rates in a user study, aiming to enhance accessibility for individuals with mobility impairments.

Contribution

The paper presents a novel integrated mixed-reality system combining gaze-tracking and robotic control, improving feedback and accuracy in human-robot interaction for assistive purposes.

Findings

Gaze fixation error averaged 1.46 cm.

Robotic positioning error was around ±1.53 cm.

Achieved 80% success rate in pick and place tasks.

Abstract

Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient feedback mechanisms, leading to uncertainty in user intent recognition and reduced adaptability. This paper presents the MIHRAGe interface, an integrated system that combines gaze-tracking, robotic assistance, and a mixed-reality to create an immersive environment for controlling the robot using only eye movements. The system was evaluated through an experimental protocol involving four participants, assessing gaze accuracy, robotic positioning precision, and the overall success of a pick and place task. Results showed an average gaze fixation error of 1.46 cm, with individual variations ranging from 1.28 cm to 2.14 cm. The robotic arm demonstrated an average positioning error of +-1.53 cm, with discrepancies attributed to interface resolution and calibration constraints. In a pick and place task, the system achieved a success rate of 80%, highlighting its potential for improving accessibility in human-robot interaction with visual feedback to the user.