用眼神控制机器人，让行动不便者更轻松完成日常任务。
MIHRaGe: A Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control
- 通过眼神追踪+混合现实，实现仅用眼睛操控机械臂。
- 平均眼动定位误差1.46厘米，抓取任务成功率80%。
- 适合上肢障碍用户，特别关注视觉反馈与交互体验。
上肢活动受限人群常需辅助技术完成日常生活。尽管眼动追踪在机器人辅助中展现出潜力，但现有方案缺乏充分反馈，导致用户意图识别不准确且适应性差。本文提出MIHRaGe系统，整合眼动追踪、机器人协助与混合现实，构建仅靠眼动控制机器人的沉浸式环境。通过四名参与者实验，评估眼动精度、机器人定位精度及抓取任务成功率。结果显示，眼动固定误差平均为1.46厘米（个体范围1.28至2.14厘米），机械臂平均定位误差为±1.53厘米，误差源于界面分辨率与校准限制。在抓取任务中，系统成功率达80%，表明其在具视觉反馈的人机交互中具有提升无障碍性的潜力。
原文摘要 · Abstract (English)
Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient feedback mechanisms, leading to uncertainty in user intent recognition and reduced adaptability. This paper presents the MIHRAGe interface, an integrated system that combines gaze-tracking, robotic assistance, and a mixed-reality to create an immersive environment for controlling the robot using only eye movements. The system was evaluated through an experimental protocol involving four participants, assessing gaze accuracy, robotic positioning precision, and the overall success of a pick and place task. Results showed an average gaze fixation error of 1.46 cm, with individual variations ranging from 1.28 cm to 2.14 cm. The robotic arm demonstrated an average positioning error of +-1.53 cm, with discrepancies attributed to interface resolution and calibration constraints. In a pick and place task, the system achieved a success rate of 80%, highlighting its potential for improving accessibility in human-robot interaction with visual feedback to the user.
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