Abstract
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.
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