EOG-Based Interface for Manipulation Tasks

Abstract

Recently human-robot interaction (HRI) has become a highly researched topic in robotics, especially in assistive robotics systems. A category of persons that require special attention is represented by the disabled people. For persons suffering of amyotrophic lateral sclerosis or brainstem stroke there are a few available interfaces among which is electrooculography (EOG) that offers an alternative communication channel. In this paper is proposed a paradigm for sending manipulation commands to a virtual robotic arm. A manipulation task is defined by three coordinates in space, the rest of the process being automatically executed. The users are asked to complete a simple task such as pour water into a glass from a bottle by activating the manipulation command.