Gaze-based teleprosthetic enables intuitive continuous control of complex robot arm use: Writing & drawing

File Description SizeFormat 
DziemianAbbottFaisal_2016_Biorob.aldo.pdfAccepted version3.08 MBAdobe PDFView/Open
Title: Gaze-based teleprosthetic enables intuitive continuous control of complex robot arm use: Writing & drawing
Authors: Dziemian, S
Abbott, WW
Aldo Faisal, A
Item Type: Conference Paper
Abstract: Eye tracking is a powerful mean for assistive technologies for people with movement disorders, paralysis and amputees. We present a highly intuitive eye tracking-controlled robot arm operating in 3-dimensional space based on the user's gaze target point that enables tele-writing and drawing. The usability and intuitive usage was assessed by a “tele” writing experiment with 8 subjects that learned to operate the system within minutes of first time use. These subjects were naive to the system and the task and had to write three letters on a white board with a white board pen attached to the robot arm's endpoint. The instructions are to imagine they were writing text with the pen and look where the pen would be going, they had to write the letters as fast and as accurate as possible, given a letter size template. Subjects were able to perform the task with facility and accuracy, and movements of the arm did not interfere with subjects ability to control their visual attention so as to enable smooth writing. On the basis of five consecutive trials there was a significant decrease in the total time used and the total number of commands sent to move the robot arm from the first to the second trial but no further improvement thereafter, suggesting that within writing 6 letters subjects had mastered the ability to control the system. Our work demonstrates that eye tracking is a powerful means to control robot arms in closed-loop and real-time, outperforming other invasive and non-invasive approaches to Brain-Machine-Interfaces in terms of calibration time (<;2 minutes), training time (<;10 minutes), interface technology costs. We suggests that gaze-based decoding of action intention may well become one of the most efficient ways to interface with robotic actuators - i.e. Brain-Robot-Interfaces - and become useful beyond paralysed and amputee users also for the general teleoperation of robotic and exoskeleton in human augmentation.
Issue Date: 28-Jul-2016
Date of Acceptance: 1-May-2016
ISBN: 9781509032877
ISSN: 2155-1774
Publisher: IEEE
Start Page: 1277
End Page: 1282
Journal / Book Title: Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Copyright Statement: © 2016 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.
Conference Name: 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Publication Status: Published
Start Date: 2016-06-26
Finish Date: 2016-06-29
Conference Place: Singapore
Appears in Collections:Faculty of Engineering

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

Creative Commonsx