Robotic teleoperation is increasingly being used across the world to perform tasks where it is dangerous or impossible for a human to be physically present and complete the task directly themselves. However, robotic teleoperation is difficult due to the disconnect between the operator and the robot caused by the lack of sensory feedback presented to the operator. It is therefore important to introduce an intuitive control interface that can improve performance and enhance safety. Introducing gaze as a control input can achieve these goals by offering a rich information source that requires minimal additional effort on the part of the operator. Several different techniques for the use of gaze control in remote robotic operation are investigated. The merits of a hybrid position control method which blends the current location of a robot with the target position in order to attract the robot towards it are evaluated. This system is built on by adding haptic virtual fixtures which guide the operator towards the target point and restrict motion to an area near the target through the use of a safety boundary. This approach is then adjusted based on the system's confidence in the predicted target position. Finally, a fuzzy logic controller which guides a robot through use of the user's gaze is presented. These methods illustrate how gaze can enhance performance while ensuring an interface is natural and comfortable to use.
confidence, fuzzy logic, gaze, haptics, intent, teleoperation
Networked Digital Library of Theses and Dissertations
Colorado School of Mines. Arthur Lakes Library