Unlocking Potential: Gaze-Based Interfaces in Assistive Robotics for Users with Severe Speech and Motor Impairment
Himanshu Vishwakarma, Mukund Mitra, Vinay Krishna Sharma, Jabeen Sultan, Aniruddha Kumar Atulkar, Dinesh Bhathad, Pradipta Biswas
Abstract
Individuals with Severe Speech and Motor Impairment (SSMI) struggle to interact with their surroundings due to physical and communicative limitations. To address these challenges, this paper presents a gaze-controlled robotic system that helps SSMI users perform stamp printing tasks. The system includes gaze-controlled interfaces and a robotic arm with a gripper, designed specifically for SSMI users to enhance accessibility and interaction. User studies with gazecontrolled interfaces such as video see-through (VST), video pass-through (VPT), and optical see-through (OST) displays demonstrated the system's effectiveness. Results showed that VST had the average stamping time of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$28.45 s(SD = 15.44s)$</tex> and the average stamp count <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$7.36(SD = 3.83)$</tex>, outperforming VPT and OST.
BibTeX
@inproceedings{icra2025_unlockingpotenti,
title = {Unlocking Potential: Gaze-Based Interfaces in Assistive Robotics for Users with Severe Speech and Motor Impairment},
author = {Himanshu Vishwakarma and Mukund Mitra and Vinay Krishna Sharma and Jabeen Sultan and Aniruddha Kumar Atulkar and Dinesh Bhathad and Pradipta Biswas},
booktitle = {ICRA 2025},
year = {2025}
}