Eye-Hand Behavior in Human-Robot Shared Manipulation

Reuben M. Aronson, Thiago Santini, Thomas C. Kübler, Enkelejda Kasneci, Siddhartha Srinivasa, Henny Admoni

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

73 Scopus citations

Abstract

Shared autonomy systems enhance people's abilities to perform activities of daily living using robotic manipulators. Recent systems succeed by first identifying their operators' intentions, typically by analyzing the user's joystick input. To enhance this recognition, it is useful to characterize people's behavior while performing such a task. Furthermore, eye gaze is a rich source of information for understanding operator intention. The goal of this paper is to provide novel insights into the dynamics of control behavior and eye gaze in human-robot shared manipulation tasks. To achieve this goal, we conduct a data collection study that uses an eye tracker to record eye gaze during a human-robot shared manipulation activity, both with and without shared autonomy assistance. We process the gaze signals from the study to extract gaze features like saccades, fixations, smooth pursuits, and scan paths. We analyze those features to identify novel patterns of gaze behaviors and highlight where these patterns are similar to and different from previous findings about eye gaze in human-only manipulation tasks. The work described in this paper lays a foundation for a model of natural human eye gaze in human-robot shared manipulation.

Original languageEnglish
Title of host publicationHRI 2018 - Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction
PublisherIEEE Computer Society
Pages4-13
Number of pages10
ISBN (Electronic)9781450349536
DOIs
StatePublished - 26 Feb 2018
Externally publishedYes
Event13th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018 - Chicago, United States
Duration: 5 Mar 20188 Mar 2018

Publication series

NameACM/IEEE International Conference on Human-Robot Interaction
ISSN (Electronic)2167-2148

Conference

Conference13th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018
Country/TerritoryUnited States
CityChicago
Period5/03/188/03/18

Keywords

  • Eye gaze
  • Eye tracking
  • Human-robot interaction
  • Nonverbal communication
  • Shared autonomy

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