用眼神控制机器人抓取，帮助行动不便者更高效操作。
GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface
- 通过眼神追踪+手势实现双手无接触操控机器人
- 磁吸式选物使对准时间减少31%，任务效率显著提升
- 适合残障人士、康复训练及无障碍人机交互场景
我们提出GazeGrasp，一种基于眼神的协作机器人操控系统，帮助运动功能障碍者通过眼动控制机械臂完成抓取任务。系统采用ESP32 CAM进行眼动追踪，MediaPipe实现眼位检测，YOLOv8完成物体定位，并与Universal Robot UR10集成。经过用户个性化校准后，系统支持通过磁吸式视觉反馈直观选择目标物体，并以眼动手势控制机器人动作。在13名参与者上的实验表明，磁吸效果使眼动对准时间平均缩短31%，任务效率明显提高。该系统为辅助机器人提供了稳定、无需双手的操作界面，有效提升了用户的自主性与可访问性。
原文摘要 · Abstract (English)
We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8 for object localization, integrated with a Universal Robot UR10 for manipulation tasks. After user-specific calibration, the system allows intuitive object selection with a magnetic snapping effect and robot control via eye gestures. Experimental evaluation involving 13 participants demonstrated that the magnetic snapping effect significantly reduced gaze alignment time, improving task efficiency by 31%. GazeGrasp provides a robust, hands-free interface for assistive robotics, enhancing accessibility and autonomy for users.
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