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Comparing two safe distance maintenance algorithms for a gaze controlled HRI involving users with SSMI

Vinay Krishna Sharma, Lrd Murthy, Pradipta Biswas
2022 ACM Transactions on Accessible Computing  

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People with Severe Speech and Motor Impairment (SSMI) often find it difficult to manipulate physical objects due to spasticity and have familiarity with eye pointing based communication. This paper 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
more » ... llowed by user trial involving end users. Users with SSMI could bring the robotic arm at any designated point within its working envelope in less than 3 minutes.
doi:10.1145/3530822 fatcat:ltwjobsv7nedxisq6rt3vs3xc4
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Vinay Krishna Sharma, Lrd Murthy, Pradipta Biswas. "Comparing two safe distance maintenance algorithms for a gaze controlled HRI involving users with SSMI." ACM Transactions on Accessible Computing (2022)