Using an Eye Gaze New Combined Approach to Control a Wheelchair Movement

Cojocaru, Dorian; Manta, Liviu Florin; Vladu, Ionel Cristian; Dragomir, Andrei; Mariniuc, Alexandru Marin

doi:10.1109/icstcc.2019.8886158

Cited by 21 publications

(12 citation statements)

References 20 publications

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“…A work similar to ours is proposed in [34], the main contribution of our paper comes from the inclusion of the uncertainty information about the gaze position in the human-machine interaction and therefore the creation of a smart HMI able to adapt to this parameter. In addition, fatigue and safety issues during driving were considered, proposing as a solution a semi-autonomous navigation modality that allows the system to safely navigate through narrow passages.…”

Section: Eye Driven Wheelchairsmentioning

confidence: 99%

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

et al. 2021

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Any severe motor disability is a condition that limits the ability to interact with the environment, even the domestic one, caused by the loss of control over one’s mobility. This work presents RoboEYE, a power wheelchair designed to allow users to move easily and autonomously within their homes. To achieve this goal, an innovative, cost-effective and user-friendly control system was designed, in which a non-invasive eye tracker, a monitor, and a 3D camera represent some of the core elements. RoboEYE integrates functionalities from the mobile robotics field into a standard power wheelchair, with the main advantage of providing the user with two driving options and comfortable navigation. The most intuitive and direct modality foresees the continuous control of frontal and angular wheelchair velocities by gazing at different areas of the monitor. The second, semi-autonomous modality allows navigation toward a selected point in the environment by just pointing and activating the wished destination while the system autonomously plans and follows the trajectory that brings the wheelchair to that point. The purpose of this work was to develop the control structure and driving interface designs of the aforementioned driving modalities taking into account also uncertainties in gaze detection and other sources of uncertainty related to the components to ensure user safety. Furthermore, the driving modalities, in particular the semi-autonomous one, were modeled and qualified through numerical simulations and experimental verification by testing volunteers, who are regular users of standard electric wheelchairs, to verify the efficiency, reliability and safety of the proposed system for domestic use. RoboEYE resulted suitable for environments with narrow passages wider than 1 m, which is comparable with a standard domestic door and due to its properties with large commercialization potential.

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Section: Eye Driven Wheelchairsmentioning

confidence: 99%

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

et al. 2021

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“…could not use the hand-controlled joystick [28]. That is the reason why eye-gaze control has been explored [21,[29][30][31][32][33][34]. And researchers are improving the eye-gaze control of an assistive robot to help these impaired people's daily activities.…”

Section: Backgroundsmentioning

confidence: 99%

“…The work in [34] describes an intelligent user interface designed with an eye-tracking system named Display/Eye Tracker device Set (DETS). The system is based on the VHF+ algorithm.…”

Section: Related Workmentioning

confidence: 99%

Eye-Gaze Control of a Wheelchair Mounted 6DOF Assistive Robot for Activities of Daily Living

Sunny

Zarif

Rulik

et al. 2021

Preprint

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Background: Building control architecture that balances the assistive manipulation systems with the benefits of direct human control is a crucial challenge of human-robot collaboration. It promises to help people with disabilities more efficiently control wheelchair and wheelchair-mounted robot arms to accomplish activities of daily living.Methods: In this paper, our research objective is to design an eye-tracking assistive robot control system capable of providing targeted engagement and motivating individuals with a disability to use the developed method for self-assistance activities of daily living. The graphical user interface is designed and integrated with the developed control architecture to achieve the goal.Results: We evaluated the system by conducting a user study. Ten healthy participants performed five trials of three manipulation tasks using the graphical user interface and the developed control framework. The 100% success rate on task performance demonstrates the effectiveness of our system for individuals with motor impairments to control wheelchair and wheelchair-mounted assistive robotic manipulators.Conclusions: We demonstrated the usability of using this eye-gaze system to control robotic arm mounted on wheelchair in activities of daily living for the people with disabilities. We found high levels of acceptance with higher ratings in evaluation of the system with healthy participants. Trial registration: Not applicable.

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“…Of course, these control devices are correlated with the level of disability of the user, the automation of the user control interface is leading implicitly to the increase of the complexity of the system and the costs. However, eye-tracking devices and facial expression recognition systems are still in development, with current models offering just a few practical facilities compared to the theoretical studies [5][6][7][8][9][10][11][12]. For example, Timofei I. et al worked on a robotic wheelchair designed for patients with severe disorders of the musculoskeletal system and other body functions.…”

Section: Introductionmentioning

confidence: 99%

The Design of an Intelligent Robotic Wheelchair Supporting People with Special Needs, Including for Their Visual System

et al. 2021

Self Cite

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The paper aims to study the applicability and limitations of the solution resulting from a design process for an intelligent system supporting people with special needs who are not physically able to control a wheelchair using classical systems. The intelligent system uses information from smart sensors and offers a control system that replaces the use of a joystick. The necessary movements of the chair in the environment can be determined by an intelligent vision system analyzing the direction of the patient’s gaze and point of view, as well as the actions of the head. In this approach, an important task is to detect the destination target in the 3D workspace. This solution has been evaluated, outdoor and indoor, under different lighting conditions. In order to design the intelligent wheelchair, and because sometimes people with special needs also have specific problems with their optical system (e.g., strabismus, Nystagmus) the system was tested on different subjects, some of them wearing eyeglasses. During the design process of the intelligent system, all the tests involving human subjects were performed in accordance with specific rules of medical security and ethics. In this sense, the process was supervised by a company specialized in health activities that involve people with special needs. The main results and findings are as follows: validation of the proposed solution for all indoor lightning conditions; methodology to create personal profiles, used to improve the HMI efficiency and to adapt it to each subject needs; a primary evaluation and validation for the use of personal profiles in real life, indoor conditions. The conclusion is that the proposed solution can be used for persons who are not physically able to control a wheelchair using classical systems, having with minor vision deficiencies or major vision impairment affecting one of the eyes.

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Using an Eye Gaze New Combined Approach to Control a Wheelchair Movement

Cited by 21 publications

References 20 publications

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

Eye-Gaze Control of a Wheelchair Mounted 6DOF Assistive Robot for Activities of Daily Living

The Design of an Intelligent Robotic Wheelchair Supporting People with Special Needs, Including for Their Visual System

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