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It is the first time that 3-D gaze is utilized in a real environment to command a robot for a practical application. Three-dimensional gaze tracking is promising as an intuitive alternative for human-robot interaction especially for disabled and elderly people who cannot handle the conventional interaction modalities.

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The promising assistive technologies bring the hope that enlightens the independent daily living for the elderly and disabled people. However, most modern human-machine communication means is not affordable to those people with very limited motion ability to effectively express their service requests. In the paper, we presented a novel interaction framework which can facilitate the communication between human and assistive devices. In the framework, human intention is inferred implicitly by monitoring the gaze movements. The advantage of this framework is that gaze-based communication requires very little effort from the user and most elderly and disabled people with motion impairment retain the visual capability. The architecture of the presented framework and its effectiveness were introduced and validated. The relationship between human intentions with gaze behaviors was further discussed. This work is expected to simplify the humanmachine interaction, consequently enhancing the adoption of assistive technologies and the user's independence in daily living.Index terms -human intention, gaze, assistive technology, independent living.I.

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