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Free-view, 3D gaze-guided, assistive robotic system for activities of daily living

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Title: Free-view, 3D gaze-guided, assistive robotic system for activities of daily living
Authors: Wang, M-Y
Kogkas, AA
Darzi, A
Mylonas, GP
Item Type: Conference Paper
Abstract: Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities. We have developed an assistive robotic system with an intuitive free-view gaze interface. The user's point of regard is estimated in 3D space while allowing free head movement and is combined with object recognition and trajectory planning. This framework allows the user to interact with objects using fixations. Two operational modes have been implemented to cater for different eventualities. The automatic mode performs a pre-defined task associated with a gaze-selected object, while the manual mode allows gaze control of the robot's end-effector position on the user's frame of reference. User studies reported effortless operation in automatic mode. A manual pick and place task achieved a success rate of 100% on the users' first attempt.
Editors: Maciejewski, AA
Okamura, A
Bicchi, A
Stachniss, C
Song, DZ
Lee, DH
Chaumette, F
Ding, H
Li, JS
Wen, J
Roberts, J
Masamune, K
Chong, NY
Amato, N
Tsagwarakis, N
Rocco, P
Asfour, T
Chung, WK
Yasuyoshi, Y
Sun, Y
Maciekeski, T
Althoefer, K
AndradeCetto, J
Chung, WK
Demircan, E
Dias, J
Fraisse, P
Gross, R
Harada, H
Hasegawa, Y
Hayashibe, M
Kiguchi, K
Kim, K
Kroeger, T
Li, Y
Ma, S
Mochiyama, H
Monje, CA
Rekleitis, I
Roberts, R
Stulp, F
Tsai, CHD
Zollo, L
Issue Date: 7-Jan-2019
Date of Acceptance: 1-Oct-2018
URI: http://hdl.handle.net/10044/1/81399
DOI: 10.1109/IROS.2018.8594045
ISSN: 2153-0858
Publisher: IEEE
Start Page: 2355
End Page: 2361
Journal / Book Title: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: National Institute of Health Research
National Institute for Health Research
Funder's Grant Number: NF SI 061710038
Conference Name: 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords: Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
cs.RO
cs.RO
cs.HC
Publication Status: Published
Start Date: 2018-10-01
Finish Date: 2018-10-05
Conference Place: Madrid, Spain
Online Publication Date: 2019-01-07
Appears in Collections:Department of Surgery and Cancer
Institute of Global Health Innovation